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[전문가 발표] 하지 외골격 로봇 (김완수 박사)
- 9. Factory Automation Robot Field Automation Robot 비정형화된 작업환경 Regularity of Working Process EnvironmentMaterial Variety3of work3process Irregular environment Irregular3 work3Piece Simple3task3and3 repetitive3process • Capability to overcome the irregular environment • Ability to judge situation autonomously • Unmanned/autonomous stage
- 11. Current Future 다양한 서비스 Specific Service LevelofFunctionRequirement Autonomous self3command Human3like system Artificial3 intelligence Human3operation Task3oriented3and imperfection3of3sensing • Capability to sense interactions • Capability to make circumstantial judgments • Unmanned/autonomous stage
- 13. 일반적 로봇 기술 미래 로봇 기술 사람의 우수한 인지능력과 로봇의 월등한 물리적 능력이 상호 협력하여 시너지 효과를 발휘
- 15. XOS 2 (Raytheon Sarcos, USA) HyPer (KITECH, KOR) HEXAR-CR (Hanyang Univ., KOR) ReWalk (Argo medical, Israel) X1 (NASA, USA) EKSO (Ekso Bionics, USA) ALEX (New Zealand) HAL-5 (Cyberdyne, Japan) WAD (HONDA, Japan) HEXAR- WA20 (Hanyang Univ. ,KOR) Soft Exo suit (Harvad Univ., USA) Body Extender (PERCRO, Italy) RoboShip buildersuits (DSME, KOR) FORTIS (Lockheed martin, USA) REMLA (Kawasaki, JPN) Robo-Mate (RoboMate, EU) Chairless chair (VWgroup, GER) HERCULE (RB3D, FR) HWR43000 (ROTEM, KOR) HULC (Lockheed martin, USA)
- 23. CR10 CR30 CR40 CR50 CR60 2006 Current o 48kg o 6Iactive o Position3sensor o 19kg o 2Iactive o Muscle3sensor o 25kg o 4Iactive o MCRS o 23kg o 4Iactive o F/T3sensor o 21kg o 4Iactive o Virtual3sensor
- 29. TorsoHarness Module Hip Module Ankle Module Knee Module Payload Holder Battery Controller Box Hip Joint Knee Joint Ankle Joint Thigh Brace Belt Foot Binding Accessory Holder Harness 1. Int./Ext Rotation 2. Flexion/Extension • Actuated motion • Power Generation 3. Adduction/Abduction Hip 1. Flexion/Extension • Actuated motion • Power Generation Knee 1. Int./Ext Rotation 2. Plantarflexion/Dorsiflexion • Weight supporting • Energy saving 3. Adduction/Abduction Ankle H1 H2 H3 K1 A1 A3 A2 Active Joint Quasi-passive Joint Passive Joint
- 31. START System Available Disable Enable END Stance Phase Sensor Calibration Mid Stance Terminal Stance Initial Contact 1yCOP y= − 1 yy COP α− ≤ 2yCOP yα yCOP xCOP Right Swing Left Swing 1xCOP x= − 1xCOP x= Swing Phase 0 2 4 6 8 10 12 14 0 5 10 15 20 Estimatied Elbow Joint Torque Time [Sec.] JointTorque[Nm] 5 Nm 10 Nm 15 Nm 1 2 3 4 0 10 20 30 40 50 60 70 80 90 100 Gait Phase GaitCycle[%] Subject1 Subject2 Subject3 Subject4 Subject5 Mechanism3of3the3MCRS Gait3phase3detection3algorithm
- 33. Main Controller (sbRio-9642) CAN AIO DIO RS-232 Transceivers S/W Mini-45 3DM-GX3 SCH16F CQ-20KM Insole sensor-R SCU1 MCU-R1 MCU-L1 SCU2-R SCU2-L MCU-R2 MCU-L2 SCU3-R SCU3-L 2ch SCH16F CQ-20KM SCH16F SCH16F 3DM-GX3 3DM-GX3 Insole sensor-L 1-axis Torque sensor 6-axis F/T sensor Insole sensor Incremental encoder AHRS