Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Heedon | - |
dc.contributor.author | Lee, Byeongkyu | - |
dc.contributor.author | Kim, Wansoo | - |
dc.contributor.author | Gil, Myeongsoo | - |
dc.contributor.author | Han, Jungsoo | - |
dc.contributor.author | Han, Changsoo | - |
dc.date.accessioned | 2022-04-01T09:17:22Z | - |
dc.date.available | 2022-04-01T09:17:22Z | - |
dc.date.created | 2021-07-29 | - |
dc.date.issued | 2012-06 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/107404 | - |
dc.description.abstract | This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strength-assisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | 한국정밀공학회 | - |
dc.title | Human-robot cooperative control based on pHRI (Physical Human-Robot Interaction) of exoskeleton robot for a human upper extremity | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Wansoo | - |
dc.identifier.doi | 10.1007/s12541-012-0128-x | - |
dc.identifier.wosid | 000304645300021 | - |
dc.identifier.bibliographicCitation | International Journal of Precision Engineering and Manufacturing, v.13, no.6, pp.985 - 992 | - |
dc.relation.isPartOf | International Journal of Precision Engineering and Manufacturing | - |
dc.citation.title | International Journal of Precision Engineering and Manufacturing | - |
dc.citation.volume | 13 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 985 | - |
dc.citation.endPage | 992 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001662103 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, ManufacturingEngineering, Mechanical | - |
dc.subject.keywordPlus | Exoskeleton (Robotics) | - |
dc.subject.keywordPlus | Man machine systems | - |
dc.subject.keywordPlus | Muscle | - |
dc.subject.keywordPlus | POWER | - |
dc.subject.keywordAuthor | Exoskeleton | - |
dc.subject.keywordAuthor | Human-robot cooperation control | - |
dc.subject.keywordAuthor | Physical human-robot interaction | - |
dc.subject.keywordAuthor | Power assistive robot | - |
dc.subject.keywordAuthor | Wearable robot | - |
dc.identifier.url | https://link.springer.com/article/10.1007/s12541-012-0128-x | - |
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