[전문가 발표] 하지 외골격 로봇 (김완수 박사)

CnRLAB !CIM&ROBOTICS LABORATORY��

발표자



그림출처: http://www.cyberdyne.jp


Factory Automation Robot Field Automation Robot

비정형화된 작업환경

Regularity of Working Process

Env

iron

men

t &

Mat

eria

l

Variety3ofwork3process

Irregularenvironment

Irregular3work3Piece

Simple3task3and3repetitive3process

• Capability to overcome the irregular environment

• Ability to judge situation autonomously

• Unmanned/autonomous stage


Current Future

다양한 서비스

Specific Service

Lev

el o

f Fu

nct

ion R

equirem

ent

Autonomousself3command

Human3likesystem

Artificial3intelligence

Human3operation

Task3oriented3andimperfection3of3sensing

• Capability to sense interactions

• Capability to make circumstantial judgments

• Unmanned/autonomous stage


일반적 로봇 기술

미래 로봇 기술

사람의우수한 인지능력과로봇의월등한 물리적 능력이

상호 협력하여시너지 효과를 발휘


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)

RoboShipbuilder suits

(DSME, KOR)

FORTIS(Lockheed martin,

USA)

REMLA(Kawasaki,

JPN)

Robo-Mate(RoboMate, EU)

Chair less chair(VW group, GER)

HERCULE(RB3D, FR)

HWR43000(ROTEM,

KOR)

HULC(Lockheed

martin, USA)


Mechanism Architecture

Joint Mechanism

TypeCooperationControl

MechanismDesign

IntentMeasurement

cHRIMeasurement

Sensor

pHRIMeasurement

Sensor

cHRIBased

Control

pHRIBased

Control


2006년HL10

HL30HL35

HL40


HL10 HL20

HL30 HL35


CR10 CR30 CR40 CR50 CR60

2006 Current

o 48kgo 6Iactiveo Position3sensor

o 19kgo 2Iactiveo Muscle3sensor

o 25kgo 4Iactiveo MCRS

o 23kgo 4Iactiveo F/T3sensor

o 21kgo 4Iactiveo Virtual3sensor


CR20 CR30

CR40 CR40P


!� Adduction�

Abduction�

Internal

rotation�

External

rotation�

Internal

rotation�

External

rotation�

Adduction�

Abduction�

Inversion�Eversion�

Abduction�

Adduction�

!�

Flexion�

Extension�

!�

Flexion�

Extension�

Dorsiflexion�Plantarflexion�

Sagittal plane

Angle Moment Power


Torso H

arness

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�


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 12 140

5

10

15

20Estimatied Elbow Joint Torque

Time [Sec.]

Join

t T

orqu

e [N

m]

5 Nm10 Nm15 Nm

1 2 3 40

10

20

30

40

50

60

70

80

90

100

Gait Phase

Gai

t Cyc

le [%

]

Subject1Subject2Subject3Subject4Subject5

Mechanism3of3the3MCRS

Gait3phase3detection3algorithm


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


x

y

Xexo X

H K int

1

2


Angle [deg]�

Torque [Nm]�

q2 q1

k1

k2

Flexion�

Flexion�

Extension�

Extension�

[전문가 발표] 하지 외골격 로봇 (김완수 박사)

Technology

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