공경철 교수

To realize ideal force control of robots that interact with a human, a very precise actuating system with zero impedance is desired. For such applications, a rotary series elastic actuator (RSEA) has been introduced recently. This paper presents the design of RSEA and the associated control algorithms. To generate joint torque as desired, a torsional spring is installed between a motor and a human joint, and the motor is controlled to produce a proper spring deflection for torque generation. Whe

Recently, the exoskeletal power assistive equipment, which is a kind of wearable robot, has been widely developed to help human body motion. The exoskeleton for elderly people and patients, however, has some limitations due to the weight and volume of the equipment. In this paper, a tendon-driven exoskeletal power assistive device, exoskeleton for patients and the old by the Sogang University (EXPOS), is proposed as a feasible solution. In case of EXPOS, the caster walker carries heavy items suc

Precise and large torque generation, back drivability, low output impedance, and compactness of hardware are important requirements for human assistive robots. In this paper, a compact rotary series elastic actuator (cRSEA) is designed considering these requirements. To magnify the torque generated by an electric motor in the limited space of the compact device, a worm gear is utilized. However, the actual torque amplification ratio provided by the worm gear is different from the nominal speed r

Measurement of ground contact forces (GCFs) provides necessary information to detect human gait phases. In this paper, a new analysis method of the GCF signals is discussed for detection of the gait phases. Human gaits are complicated, and the gait phases cannot be exactly distinguished by comparing sensor outputs to a threshold. This paper proposes a method by fuzzy logic for detecting the gait phases continuously and smoothly. The smooth and continuous detection of the gait phases enables a fu

A human wearing an exoskeleton-type assistive device results in a parallel control system that includes two controllers: an exoskeleton controller and a human brain that includes the spinal cord and the cerebrum. Unknown and complicated characteristics of the brain dynamically interact with the exoskeleton controller, which makes the controller design challenging. In this paper, the motion control system of a human is regarded as a feedback control loop that consists of the brain, muscles, and t

Measurement of ground contact forces (GCF) provides necessary information to detect human gait phases. In this paper, a new analysis method of the GCF signals is discussed for detection of the gait phases. Human gaits are complicated, and the gait phases can not be exactly distinguished by comparing sensor outputs to a threshold. This paper mainly discusses how to detect the gait phases continuously and smoothly. The proposed analysis method is intended for applications to power assistive device

Recently the technology of capsule endoscopy has developed dramatically and many researchers are making efforts to combine surgical function into the capsule type endoscope. In this paper, the micro biopsy module which is a part of the capsule endoscope is proposed. The proposed module is less than 2 mm in thickness and has a diameter of 10 mm. It consists of a trigger with paraffin block, rotational tissue-cutting razor with a torsion spring and controller. This module makes it possible for the

The Sogang University biomedical assistive robot (SUBAR), which is an advanced version of the exoskeleton for patients and the old by Songang (EXPOS) is a wearable robot developed to assist physically impaired people. It provides a person with assistive forces controlled by human intentions. If a standard geared DC motor is applied, however, the control efforts will be used mainly to overcome the resistive forces caused by the friction, the damping, and the inertia in actuators. In this paper, s

This paper introduces a robotic biopsy device for capsule endoscopes. The proposed device consists of three modules for the complete process of biopsy, which includes monitoring the intestinal wall by a tissue monitoring module (TMM), aligning onto a polyp by an anchor module (AM), and sampling of the polyp tissue by a biopsy module (BM). The TMM utilizes a trigonal mirror as well as an on-board camera; since the TMM continuously takes images through lateral apertures, an operator such as a medi

We explore detection prospects of a non-standard dark sector in the context of boosted dark matter. We focus on a scenario with two dark matter particles of a large mass difference, where the heavier candidate is secluded and interacts with the standard model particles only at loops, escaping existing direct and indirect detection bounds. Yet its pair annihilation in the galactic center or in the Sun may produce boosted stable particles, which could be detected as visible Cherenkov light in larg

This paper proposes a tendon-driven exoskeletal power assistive device to reduce some problems of the existing exoskeletal power assistive equipment. In addition, this paper suggests a caster walker carrying heavy peripheral devices and maintaining stable balance of the user at the same time. A muscle fiber expansion signal is used to control this device in order to compensate for the delay time of motors and perform an easy assistance by sensing the user's action in advance. The muscle fiber ex

Motion capture systems play an important role in health-care and sport-training systems. In particular, there exists a great demand on a mobile motion capture system that enables people to monitor their health condition and to practice sport postures anywhere at any time. The motion capture systems with infrared or vision cameras, however, require a special setting, which hinders their application to a mobile system. In this paper, a mobile three-dimensional motion capture system is developed ba

Annihilation of light dark matter of mDM≈(10–40) GeV into the Standard Model fermions has been suggested as a possible origin of the gamma-ray excess at GeV energies in the Fermi-LAT data. In this paper, we examine possible model-independent signatures of such dark matter models in other experiments such as AMS-02, colliders, and cosmic microwave background (CMB) measurements. We point out that first generation of fermion final states is disfavored by the existing experimental data. Currently AM