공경철 교수

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

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

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

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

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

A cable-driven actuating system is proposed in this paper. The proposed system is attractive for rehabilitation systems because the weight of the actuator is not imposed on the human body. Since the end-effector and the actuators are connected by Bowden cables, the humans are allowed to freely move in a certain range while being assisted. However, it is a challenge to account for the variable friction of the Bowden cable and the inertia and friction of the actuator in the design of control algor

Many robotic exoskeletons for lower limb assistance aid walking by reducing energy costs. However, investigations examining stair-climbing assistance have remained limited, generally evaluating reduced activation of related muscles. This study sought to investigate how climbing assistance by a robotic exoskeleton affects energy consumption. Ten healthy young participants wearing a robotic exoskeleton that assists flexion and extension of hip and knee joints walked up nine flights of stairs twice

Realizing an ideal impedance control system in lower extremity rehabilitation systems is challenged by mechanical impedance of robot hardware. Although many researchers in Robotics and Control Systems have studied to reduce the mechanical impedance of actuators, they have not been able to eliminate the inertia of robot hardware. This paper introduces an alternative design using mechanical links. The mechanical links are driven by one actuator without any complicated servo systems. The design par

One of the main factors that increase the weight of a mobile robot is an actuation system. The number of actuators is equivalent to the number of degrees of freedom in motion, and therefore the enough number of actuators should be used for realization of the desired motions of a quadruped robot, which creates a challenge in the minimization of the weight of the robot. In this paper, a five-bar linkage mechanism is proposed to emulate the locomotive motion of a leg of a quadruped robot with the r

This paper introduces a Gait Phase Estimation Module (GPEM) and its real-time algorithm designed to estimate gait phases continuously and monotonically across a range of walking speeds and accelerations/decelerations. To address the challenges of real-world applications, we propose a speed-adaptive online gait phase estimation algorithm, which enables precise estimation of gait phases during both constant speed locomotion and dynamic speed changes. Experimental verification demonstrates that the