A5081589494- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Muscle activation and electromyography studies
- Stroke Rehabilitation and Recovery
- Advanced Sensor and Energy Harvesting Materials
- Balance, Gait, and Falls Prevention
- Neuroscience and Neural Engineering
- Simulation and Modeling Applications
- Engineering Applied Research
- Industrial Technology and Control Systems
Seoul National University
2014-2024
This article presents Exo-Glove Poly (EGP) II, a soft wearable robot for the hand with glove that is completely constructed of polymer materials and operates through tendon-driven actuation use in spinal cord injury (SCI). EGP II can restore ability to pinch grasp any object people SCI daily life. The design allows it be compact extends range sizes fit. A passive thumb structure was developed oppose improved grasping. To increase robustness glove, designed have minimal number components...
This paper presents the development of a polymer-based tendon-driven wearable robotic hand, Exo-Glove Poly. Unlike previously developed Exo-Glove, fabric-based Poly was using silicone to allow for sanitization between users in multiple-user environments such as hospitals. use two motors, one thumb and other index/middle finger, an under-actuation mechanism grasp various objects. In order realize Poly, design features fabrication processes were permit adjustment different hand sizes, protect...
A soft wearable robot with a tendon drive is promising technology that enables to be compact and lightweight. routing system was previously proposed apply robot. In this study, slack enabling mechanism increase the efficiency guarantee safety of system. The eliminates pre-tension tendons minimizes friction induced by pre-tension, which causes inefficiency lack safety. Furthermore, mechanically prevents derailing from spool. order verify benefits mechanism, prototype built tested on...
Tendon drives are widely used in robotics. The compliance of the tendon such suits them for soft robots, including wearable but several issues impede their use. Generally, should always maintain tension to prevent derailment from spool. However, induces high friction forces owing absence ball bearings. Because kinematics robot is basically nonlinear and changed by deformation structure, kinematic difference between structure spool causes tendon. Moreover, continuously maintained robots...
A soft wearable robot, which is an emerging type of can take advantage tendon-driven mechanisms with a Bowden cable. These benefits robots because the actuator be remotely placed and transmission very compact. However, it difficult to compensate friction along cable makes hard control. This study proposes use position-based impedance controller, robust nonlinear dynamics system provides compliant interaction between human, environment. Additionally, eliminate disturbances from unexpected...
To assist the walk of physically weak people is important to increase their quality life because it can expand activity area. We present a soft wearable knee extensor, called Knee Tendon-suit, which extension during climbing stairs. achieve our goal, we used tendon-driven mechanism for transmitting actuation force and anchor structure body. Measuring Electromyography (EMG) at femoral muscles tension anchor, verified performance Tendon-suit as first preliminary result.
Single-step 3D printing, which can manufacture complicated designs without assembly, has the potential to completely change our design perspective, and how printing products, rather than static components, ready-to-use movable mechanisms become a reality. Existing solutions are challenged by precision limitations, cannot directly produce tightly mated moving surfaces. Therefore, joints must be designed with sufficient gap between resulting in other imprecise motion. In this study, we propose...
Tendon drive is commonly used in various kind of machines. And, the spool to wind and unwind tendon because its simplicity compactness. However, slack causes derailment out fails system. In order use with without concerning about derailment, enabling actuator previously proposed. this paper, performance criteria design parameters affecting are discussed.
Tendon driven mechanism has been widely used in mechanical systems because of its versatility to requiring complex transmission. This paper proposes a control strategy slack enabling tendon actuator using feedback linearization. The is newly developed that does not fail although the slacks (non-positive tension) at outlet which an essential operating phase when applied soft wearable robots. To deal with dynamic nonlinearities actuator, input-output linearization was adopted and linear...
Hand function is one of the essential functions required to perform activities daily living, and wearable robots that assist or recover hand have been consistently developed. Previously, commonly employed conventional robotic technology such as linkage which consists rigid links pin joints. Recently, interest in soft robotics has increased, many attempts develop a robot with structure made are progress order reduce size weight. This paper presents concept composed by comparing it robots....