The Experts below are selected from a list of 321 Experts worldwide ranked by ideXlab platform
Chang-soo Han - One of the best experts on this subject based on the ideXlab platform.
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Human-robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human-robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot's end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller. © 2013 Elsevier Ltd. All rights reserved.
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Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human–robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot’s end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller.
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Development of dynamic model-based controller for upper limb exoskeleton robot
Proceedings - IEEE International Conference on Robotics and Automation, 2012Co-Authors: Byeong Kyu Lee, Kyoo Sik Shin, Ji Yeong Lee, Jung Soo Han, Hee Don Lee, Chang-soo HanAbstract:In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system. However, singularities exist when force signals in the Cartesian Coordinate system are transformed to torques in the Joint Coordinate system. So we applied the damped least squares method. In handling loads, torque compensation regarding the weight of the object is required. Therefore, we installed the multi-axis force sensor at the robot end effector. It measures the interaction forces between the exoskeleton and the load. To compensate for the handling object, we used the static model. We performed control stability and load handling experiments to verify the effectiveness of the controller. With these experiments, we confirmed the effectiveness of the proposed controller.
Kyoo Sik Shin - One of the best experts on this subject based on the ideXlab platform.
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human robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Kyoo Sik ShinAbstract:Abstract In this paper, we propose a human–robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot’s end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller.
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Human-robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human-robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot's end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller. © 2013 Elsevier Ltd. All rights reserved.
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Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human–robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot’s end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller.
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Development of dynamic model-based controller for upper limb exoskeleton robot
Proceedings - IEEE International Conference on Robotics and Automation, 2012Co-Authors: Byeong Kyu Lee, Kyoo Sik Shin, Ji Yeong Lee, Jung Soo Han, Hee Don Lee, Chang-soo HanAbstract:In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system. However, singularities exist when force signals in the Cartesian Coordinate system are transformed to torques in the Joint Coordinate system. So we applied the damped least squares method. In handling loads, torque compensation regarding the weight of the object is required. Therefore, we installed the multi-axis force sensor at the robot end effector. It measures the interaction forces between the exoskeleton and the load. To compensate for the handling object, we used the static model. We performed control stability and load handling experiments to verify the effectiveness of the controller. With these experiments, we confirmed the effectiveness of the proposed controller.
Byeong Kyu Lee - One of the best experts on this subject based on the ideXlab platform.
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Human-robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human-robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot's end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller. © 2013 Elsevier Ltd. All rights reserved.
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Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human–robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot’s end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller.
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Development of dynamic model-based controller for upper limb exoskeleton robot
Proceedings - IEEE International Conference on Robotics and Automation, 2012Co-Authors: Byeong Kyu Lee, Kyoo Sik Shin, Ji Yeong Lee, Jung Soo Han, Hee Don Lee, Chang-soo HanAbstract:In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system. However, singularities exist when force signals in the Cartesian Coordinate system are transformed to torques in the Joint Coordinate system. So we applied the damped least squares method. In handling loads, torque compensation regarding the weight of the object is required. Therefore, we installed the multi-axis force sensor at the robot end effector. It measures the interaction forces between the exoskeleton and the load. To compensate for the handling object, we used the static model. We performed control stability and load handling experiments to verify the effectiveness of the controller. With these experiments, we confirmed the effectiveness of the proposed controller.
M L Hull - One of the best experts on this subject based on the ideXlab platform.
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Coordinate system requirements to determine motions of the tibiofemoral Joint free from kinematic crosstalk errors
Journal of Biomechanics, 2020Co-Authors: M L HullAbstract:Abstract The relative rigid body motions between the femur and the tibia (termed tibiofemoral kinematics) during flexion activities can provide an objective measure of knee function. Clinically meaningful tibiofemoral kinematics are defined as the six relative rigid body motions expressed in a Joint Coordinate system where the motions about and along the axes conform to clinical definitions and are free from kinematic crosstalk errors. To obtain clinically meaningful tibiofemoral kinematics, Coordinate systems must meet certain requirements which neither have been explicitly stated nor in fact satisfied in any previous publication known to the author. Starting with the Joint Coordinate system of Grood and Suntay (1983) where motions conform to clinical definitions, the body-fixed axes must correspond to the functional (i.e. actual) axes in flexion-extension and internal-external axial rotation to avoid kinematic crosstalk errors in rotations and both functional axes must be body-fixed throughout knee flexion. To avoid kinematic crosstalk errors in translations, the origins of the femoral and tibial Cartesian Coordinate systems, which serve as stepping stones for computing translations, must lie on the functional body-fixed axes. Neither the paper by Grood and Suntay nor the ISB recommendation (Wu et al., 2002) which adopted the Joint Coordinate system of Grood and Suntay explains these requirements. Indeed meeting these requirements conflicts with the ISB recommendation thus indicating the need for revision to this recommendation. Future studies where clinically meaningful tibiofemoral kinematics are of interest should be guided by the requirements described herein.
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Coordinate System Requirements to Determine Motions of the Tibiofemoral Joint Free From Kinematic Crosstalk Errors
Journal of Biomechanics, 2020Co-Authors: M L HullAbstract:Abstract The relative rigid body motions between the femur and the tibia (termed tibiofemoral kinematics) during flexion activities can provide an objective measure of knee function. Physiologic tibiofemoral kinematics are defined as the six relative rigid body motions expressed in a Joint Coordinate system where the motions about and along the axes conform to clinical definitions and are free from kinematic crosstalk errors. To obtain physiologic tibiofemoral kinematics, Coordinate systems must meet certain requirements which neither have been explicitly stated nor in fact satisfied in any previous publication known to the author. Starting with the Joint Coordinate system of Grood and Suntay ( Grood and Suntay, 1983 ) where motions conform to clinical definitions, the body-fixed axes must correspond to the functional (i.e. actual) axes in flexion-extension and internal-external axial rotation and both functional axes must be body-fixed throughout knee flexion to avoid kinematic crosstalk errors in rotations. To avoid kinematic crosstalk errors in translations, the origins of the femoral and tibial Cartesian Coordinate systems, which serve as stepping stones for computing translations, must lie on the body-fixed functional axes. Neither the paper by Grood and Suntay nor the ISB recommendation ( Wu et al., 2002 ) which adopted the Joint Coordinate system of Grood and Suntay explains these requirements. Indeed meeting these requirements conflicts with the ISB recommendation thus indicating the need for revision to this recommendation. Future studies where physiologic tibiofemoral kinematics are of interest should be guided by the requirements described herein.
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withdrawn Coordinate system requirements to obtain physiologic motions of the tibiofemoral Joint
Journal of Biomechanics, 2019Co-Authors: M L HullAbstract:Abstract The relative rigid body motions between the femur and the tibia (termed tibiofemoral kinematics) during flexion activities provide an objective measure of knee function. However, to obtain physiologic tibiofemoral kinematics, Coordinate systems must meet certain requirements which neither have been explicitly stated nor in fact satisfied in any previous publication known to the author. Thus the primary purpose of this paper was to explain these requirements. The only valid method for obtaining physiologic tibiofemoral kinematics is to insure that Coordinate systems meet four necessary requirements which are 1) the Joint Coordinate system must follow the convention of Grood and Suntay ( Grood and Suntay, 1983 ), 2) the body-fixed axes must correspond to the functional FE axis of the femur and the functional IE axis of the tibia, 3) the origins of the Cartesian Coordinate systems, which serve as a stepping stone for computing translations, must lie on the functional body-fixed axes, and 4) the reference position between the tibia and femur must correspond to neutral with the knee in extension and the change in the components of the vector locating the origins of the Cartesian Coordinate systems from the neutral position must be used to determine translations by projecting changes in vector components along the Joint Coordinate system axes. Neither the paper by Grood and Suntay nor the ISB recommendation ( Wu et al., 2002 ) which adopted the Joint Coordinate system of Grood and Suntay explains these requirements. Indeed meeting these requirements may not be possible following the ISB recommendation thus indicating the need for revision to this recommendation.
Hee Don Lee - One of the best experts on this subject based on the ideXlab platform.
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Human-robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human-robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot's end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller. © 2013 Elsevier Ltd. All rights reserved.
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Human–robot cooperation control based on a dynamic model of an upper limb exoskeleton for human power amplification
Mechatronics, 2014Co-Authors: Hee Don Lee, Kyoo Sik Shin, Wan Soo Kim, Jung Soo Han, Byeong Kyu Lee, Chang-soo HanAbstract:In this paper, we propose a human–robot cooperation controller for the motion of the upper limb exoskeleton. The system permits three degrees of freedom using an electrical actuator that is mainly controlled by force sensor signals. These signals are used to generate the torque required to drive the exoskeleton. However, singularities exist when the force signals in the Cartesian Coordinate system are transformed into torques in the Joint Coordinate system. Therefore, we apply the damped least squares method. When handling a load, torque compensation is required about its mass. Therefore, we installed a force sensor at the point of the robot’s end-effector. It measures the forces between the exoskeleton and the load. Then, these forces are used to compensate within a static model for handling loads. We performed control stability and load handling experiments to verify the effectiveness of the controller. Via these, we confirmed the effectiveness of the proposed controller.
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Development of dynamic model-based controller for upper limb exoskeleton robot
Proceedings - IEEE International Conference on Robotics and Automation, 2012Co-Authors: Byeong Kyu Lee, Kyoo Sik Shin, Ji Yeong Lee, Jung Soo Han, Hee Don Lee, Chang-soo HanAbstract:In this paper, we propose and experimentally test a dynamic model-based force controller for the motion of upper limb exoskeleton robot. The system is composed of 3 degrees of freedom using an electrical actuator. This system is mainly controlled by the multi-axis force sensor signals. These are used to generate desired torques for driving the robot system. However, singularities exist when force signals in the Cartesian Coordinate system are transformed to torques in the Joint Coordinate system. So we applied the damped least squares method. In handling loads, torque compensation regarding the weight of the object is required. Therefore, we installed the multi-axis force sensor at the robot end effector. It measures the interaction forces between the exoskeleton and the load. To compensate for the handling object, we used the static model. We performed control stability and load handling experiments to verify the effectiveness of the controller. With these experiments, we confirmed the effectiveness of the proposed controller.
