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Development of Human-Robot Interfacing Method for Assistive Wearable Robot of a Human Upper Extremity

Title
Development of Human-Robot Interfacing Method for Assistive Wearable Robot of a Human Upper Extremity
Other Titles
상지 착용형 근력지원로봇을 위한 휴먼-로봇 인터페이싱 기법 개발
Author
이희돈
Alternative Author(s)
Lee, Heedon
Advisor(s)
한창수
Issue Date
2008-02
Publisher
한양대학교
Degree
Master
Abstract
We suggest a wearable robot using Human-Robot interfacing technology. This system combines the natural and sophisticated human intelligence with the powerful motion capability of robot. We defined a task for the human-robot interfacing prototype to operate with the human body simultaneously, paying attention to comfort and ease of wear. This system had to be both light and compact and, most importantly, easy to wear and remove. For this study, we developed a basic experimental exoskeleton system to evaluate a Human Robot HRI(Human-Robot Interface), selecting interfaces for arm braces on both wrists, and a weight harness on the torso to connect the robot and human. We developed the HRI to provide a command for the robot motion. It connects the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of End-Effecter using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F (Extension/Flexion), the shoulder E/F, and the shoulder Ab/Ad (Abduction/Adduction). We generated the command signal using the human-robot interfacing method so that a user would be able to operate the wearable robot of 6 D.O.F. And, we performed subsequent capability and force assistance experiments for performance verification of the proposed human-robot interfacing method. The result concluded that the necessary force for the load handling is analogous to weight of the load. By subsequent capability and force assistance experiments, we verified performance of the suggested human-robot interfacing method.
URI
http://dcollection.hanyang.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000051473https://repository.hanyang.ac.kr/handle/20.500.11754/147907
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
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