신동준 교수

The increasing demand for physical interaction between humans and robots has led to an interest in robots that guarantee safe behavior when human contact occurs. However, attaining established levels of performance while ensuring safety creates formidable challenges in mechanical design, actuation, sensing and control. To promote safety without compromising performance, a human-friendly robotic arm has been developed using the concept of hybrid actuation. The new design employs high-power, low-i

Safety is a critical characteristic for robots designed to operate in human environments. This paper presents the concept of hybrid actuation for the development of human-friendly robotic systems. The new design employs inherently safe pneumatic artificial muscles augmented with small electrical actuators, human-bone-inspired robotic links, and newly designed distributed compact pressure regulators. The modularization and integration of the robot components enable low complexity in the design an

There is a growing interest in soft actuators for human-friendly robotic applications. However, it is very challenging for conventional soft actuators to achieve both a large working distance and high force. To address this problem, we present a high-contraction ratio pneumatic artificial muscle (HCRPAM), which has a novel actuation concept. The HCRPAM can contract substantially while generating a large force suitable for a wide range of robotic applications. Our proposed prototyping method allo

There is a growing interest in utilizing pneumatic artificial muscles (PAMs) as actuators for human-friendly robots. However, several performance drawbacks prevent the widespread use of PAMs. Although many approaches have been proposed to overcome the low control bandwidth of PAMs, some limitations of PAMs such as restricted workspace and torque capacity remain to be addressed. This paper analyzes the limitations of conventional circular pulley joints and subsequently proposes a design methodolo

Determining design parameters is often a challenging procedure, especially in human-friendly robot design due to competition between robot safety and performance. Presenting an analytical model of hybrid actuation for human-friendly robot development, this paper proposes design methodologies to improve performance factors such as range of motion, payload, and acceleration while maintaining the safety factor of effective inertia. The optimized parameters for various design requirements have been

Interest in the field of human-centered robotics continues to grow, particularly in utilizing pneumatic artificial muscles (PAMs) for close human–robot collaborations. Addressing the limited control performance of PAMs, we proposed a hybrid actuation scheme that combines PAMs (macro) and a low-inertia DC motor (mini). While the scheme has shown significantly improved control performance and robot safety, a small DC motor has difficulties in handling the large stored energies of the PAMs, particu

Human-centered robotics has received growing interest in low-impedance actuations. In particular, pneumatic artificial muscles (PAMs) provide compliance and high force-to-weight ratio, which allow for safe actuation. However, several performance drawbacks prevent PAMs from being more pervasive. Although many approaches have been proposed to overcome the low control bandwidth of PAMs, some limitations of PAMs, such as restricted workspace and torque capacity, remain to be addressed. This paper an

Owing to their compliance, lightweight, and high force density characteristics, pneumatic actuation systems have been widely implemented in various soft robots. However, pneumatic actuation systems exhibit low efficiency, poor control performance, and high noise; these make it extremely challenging to widely employ a pneumatic actuation system in mobile robots. To overcome these limitations, many researches were conducted on recycling the compressed air within such systems. However, the proposed

With the ongoing research on soft robots, the performance of soft actuators needs to be enhanced for more wide robotic applications. Currently, most soft robots based on pneumatic actuation are capable of assisting small systems, but they are not fully suited for supporting joints requiring large force and range of motion. This is due to the actuation characteristics of the pneumatic artificial muscle (PAM); they are relatively slow, inefficient, and experience a significant force reduction when

In this paper, design requirements of the large radar were investigated, and development was performed through the analysis and design. Large radar should be designed by bearing the 75 knot wind force and <TEX>$20kg/m^2$</TEX> ice mass as operating conditions in order to meet structural stability, and driving torque and bearing load were calculated for securing the driving stability. Thermal dissipation analysis was performed considering TRM and DC-DC Converter's limitation temperature by <TEX>$

Redundant motion, which is possible when robotic manipulators are over-actuated, can be used to control robot arms for a wide range of tasks. One of the best known methods for controlling redundancy is the null space projection, which assigns a priority while executing desired tasks. However, when the manipulator is projected into null space, its motion would be limited, since the motion is only permitted in the direction that does not interfere with the primary task. In this study, we have anal

연구배경 : 색채 요소는 인체의 눈과 신경, 뇌에 의하여 자동적으로 전달되고 지각, 반응하는 기능을 가지고 있어 늘 생활하는 공간환경에서의 색채의 기능과 역할은 매우 중요하다. 이러한 측면에서 인간이 성장하는 과정에 대하여 생리적 관점에서 색채를 적용한 사람이 바로 루돌프 슈타이너(Rudolf Steiner)이며, 그가 인간의 성장에서 색채를 중요한 요소로 인식하고 전인적인 교육 색채원리로 제시하여 적용한 것이 발도르프학교의 교실 색채이다. 그러나 아직 발도르프학교 교실 색채에 대한 명확한 분석과 원리가 정립되지 않았는데, 본고에서는 발도르프학교 답사를 통해 교실 색채 자료를 EEG 실험의 색채 자극으로 하여 뇌 반응의 분석 하고 인체의 무의식적인 인지 활동에 따른 생리적 반응을 연구하고자 한다. 연구방법 : 인체의 뇌파가 발도르프학교 교실 색채에 대하여 어떠한 반응을 나타내는지 학년별 색채에 대한 특성을 분석하고 종합하였다. 실험은 32명의 피험자를 대상으로 실시하였으며 실험에 있