Development of Wearable Robots
The main contributions of this project are following. First, modular-type whole body assistive wearable robot ‘HEXAR' was developed. The upper exoskeleton and lower exoskeleton system can be operated separately and the payload of upper system is around 20kg. Second, a novel method to combine cHRI(cognitive human-robot interface) with pHRI(physical human-robot interface) was developed and human arm stiffness factor for this approach was modeled mathematically. Third, a simple control method for operating upper exoskeleton arm was developed. Using this method, wearer maneuver the system conveniently and most of all, developed human arm stiffness parameter can be utilized to study the degree of human comfort and operation efficiency. Forth, to combine with the upper exoskeleton, an under-actuated passive type lower exoskeleton mechanism was developed and was shown to the reliable model of maneuvering a lower exoskeleton system. Most of all, mechanical and electrical modular structure are most distinctive characteristics of proposed system. Developed wearable robots are issued as a published article in ‘Cho-sun Ilbo' Newspaper in Oct. 2008 and Jan. 2010 (2008/10/15 and 2010/01/01) which is one of the most famous newspaper publishing group in Korea. Other joined projects of similar theme are listed below.
<Development of Wearable Robot ‘HEXAR'>
- Development of Wearable Robot for Industrial Labor Support (Hyundai Motors Co., 2010)
- Development of Wearable Robot, ‘HEXAR' (HYU, 2007-2010)
- Design of Manipulator and its Control System for Physical Human-Robot Interaction (Korea Research Foundation, 2008)
- Force Assistive Suit for Construction Workers (C4TF Civil Eng. Research Center, 2007)
- Development of modular service robot for power assistant (Lab of Excellency, KOTEF, 2006-2008)
- Achievements: 5 Domestic Patents are registered and 2 PCT are submitted. 10 and 4 papers are presented in domestic and international conferences respectively. 2 domestic journals are published or accepted.
Development of Wearable Robots
The main contributions of this project are following. First, modular-type whole body assistive wearable robot ‘HEXAR' was developed. The upper exoskeleton and lower exoskeleton system can be operated separately and the payload of upper system is around 20kg. Second, a novel method to combine cHRI(cognitive human-robot interface) with pHRI(physical human-robot interface) was developed and human arm stiffness factor for this approach was modeled mathematically. Third, a simple control method for operating upper exoskeleton arm was developed. Using this method, wearer maneuver the system conveniently and most of all, developed human arm stiffness parameter can be utilized to study the degree of human comfort and operation efficiency. Forth, to combine with the upper exoskeleton, an under-actuated passive type lower exoskeleton mechanism was developed and was shown to the reliable model of maneuvering a lower exoskeleton system. Most of all, mechanical and electrical modular structure are most distinctive characteristics of proposed system. Developed wearable robots are issued as a published article in ‘Cho-sun Ilbo' Newspaper in Oct. 2008 and Jan. 2010 (2008/10/15 and 2010/01/01) which is one of the most famous newspaper publishing group in Korea. Other joined projects of similar theme are listed below.
<Development of Wearable Robot ‘HEXAR'>
- Development of Wearable Robot for Industrial Labor Support (Hyundai Motors Co., 2010)
- Development of Wearable Robot, ‘HEXAR' (HYU, 2007-2010)
- Design of Manipulator and its Control System for Physical Human-Robot Interaction (Korea Research Foundation, 2008)
- Force Assistive Suit for Construction Workers (C4TF Civil Eng. Research Center, 2007)
- Development of modular service robot for power assistant (Lab of Excellency, KOTEF, 2006-2008)
- Achievements: 5 Domestic Patents are registered and 2 PCT are submitted. 10 and 4 papers are presented in domestic and international conferences respectively. 2 domestic journals are published or accepted.