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dc.contributor.author박종현-
dc.date.accessioned2018-03-26T08:43:45Z-
dc.date.available2018-03-26T08:43:45Z-
dc.date.issued2014-09-
dc.identifier.citationIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014 Sept[2014], P.2160-2165en_US
dc.identifier.isbn978-1-4799-6934-0-
dc.identifier.isbn978-1-4799-6935-7-
dc.identifier.issn2153-0858-
dc.identifier.issn2153-0866-
dc.identifier.urihttp://ieeexplore.ieee.org/document/6942853/-
dc.identifier.urihttp://hdl.handle.net/20.500.11754/52682-
dc.description.abstractWhile compliance control scheme is done for the wearable robot combined with the linear actuator and sensor on it as intended by the user, oscillations occur due to the joint kinematical mechanism. In this paper, the cause of oscillation on the knee joint is analyzed in detail. Also, it is shown that the moment arm is varied with joint angle, it is confirmed that sensed pressure is changed by the variation. In addition, for canceling the oscillation, torque sensor - using the method to move its force/pressure sensor position from the cylinder to the joint, and a wire-pulley system that adjusts the moment arm with a mechanical impedance compensation are proposed. Finally, simulations and experiments are done for demonstrating oscillation reduction by using the DSME wearable robot.en_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.subjectJointsen_US
dc.subjectRobot sensing systemsen_US
dc.subjectForceen_US
dc.subjectActuatorsen_US
dc.subjectTorqueen_US
dc.titleOscillation Reduction Scheme for Wearable Robots Employing Linear Actuators and Sensorsen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/IROS.2014.6942853-
dc.relation.page2160-2165-
dc.contributor.googleauthorChoo, Junghoon-
dc.contributor.googleauthorJeong, Dong-Hyun-
dc.contributor.googleauthorJeong, Seungwoo-
dc.contributor.googleauthorChu, Gilwhoan-
dc.contributor.googleauthorPark, Jong Hyeon-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDIVISION OF MECHANICAL ENGINEERING-
dc.identifier.pidjongpark-
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COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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