This paper describes the development of a wearable exoskeleton system for lower extremities infantry soldiers and proposes appropriate design criteria based on existing case studies. Because carry variety equipment, interference with equipment additional burden support should be minimized. Recent studies have shown that user only needs to supported in gravitational direction when walking flat terrain; however, active joints are necessary over rough sloped terrain such as mountains. Thus, an...

This study proposes an under-actuated wearable exoskeleton system to carry a heavy load. To synchronize that with user, feasible modular-type and its corresponding sensor systems are proposed. The design process of the for lower extremities is presented based on considered requirements. operate human walking analysis intention signal acquisition methods actuating proposed developed. In particular, sensing data estimation strategy applied user correctly. Finally, several experiments were...

This study proposed and developed an underactuated exoskeleton to support external load-carrying partial assist for leg motion with level walking ascending of slopes stairs, which require positive energy generation. A strategy active passive joint combination are implemented on the exoskeleton, along a quasi-passive mechanism vertical weight gait propulsion while minimizing hindrance wearer's free motion. Further, muscle circumference sensors directly matched system, insole applied...

This paper describes the development of a wearable exoskeleton system for lower extremities infantry soldiers and proposes appropriate design criteria based on existing case studies. Because carry variety equipment, interference with equipment additional burden support should be minimized. Recent studies have shown that user only needs to supported in gravitational direction when walking flat terrain; however, active joints are necessary over rough sloped terrain such as mountains. Thus, an...

In this study, remote handling strategies for a large-scale argon cell facility were considered. The suggested evaluated by several types of field test. teleoperation tasks performed using developed system, which enabled traveling over entire area bridge transport system. Each arm the system had six DOFs (degrees freedom), and four DOFs. However, despite dexterous manipulators redundant monitoring many operators, including professionals, experienced difficulties in operating This was because...

We suggest a human-robot interfacing method of wearable robot for assistive human upper extremities. It connects the and with multi-axis load-cell, it measures relative force between robot. The control system calculates trajectory end-effector using this signal. In paper, we verify performance proposed through motion elbow E/F (extension/flexion), shoulder E/F, Ab/Ad(abduction/adduction). generated command signal so that user would be able to operate 6-DOF. And, performed subsequent...

This paper presents a control algorithm for steer-by-wire (SBW) system. In an SBW system in passenger car, the usual mechanical linkage between steering wheel and front wheels is replaced with electrical connection. An consists of two parts: steering-wheel front-wheel research considers tie-rod-actuating type system, which independently actuating motors wheels. The are modelled, using bond graph method both, but controlled by different means. used torque map to generate reactive damping....

Palletizing task is necessary to promote efficiency of keeping and shipping task. This is, however one the most monotonous heavy laborious work in factory. So, many types robot palletizing system have been developed. But motion commands still depends on teach pendent. That operator input command line by one. It very troublesome all, user must know how type code. So we propose new GUI interface that can be used more conveniently. To do this, use algorithm PLP, "fast algorithm" realize 3D...

The advanced spent fuel conditioning process facility (ACPF) of the irradiated materials examination (IMEF) at Korea Atomic Energy Research Institute (KAERI) has been renovated to implement a lab scale electrolytic reduction for pyroprocessing. interior and exterior structures ACPF hot cell have modified under current renovation project experimentation using nuclear fuel. most important aspect this was installation argon compartment within cell. For design system implementation system,...

Purpose The purpose of this paper is to introduce a novel device handle robot manipulator which can grip large‐size panels. This concept arises from questioning why the glazing task always performed manually and it assumed that if panel handled by worker's bare hands, material lifted system be assembled frame easily intuitively. Design/methodology/approach study proposes intuitive (IMD) attached on directly connected with coordinate end‐effector based virtual IMD. defined detection location...

Palletizing tasks are necessary to promote the efficient storage and shipping of boxed products. These tasks, however, involve some most monotonous physically demanding in factory. Thus, many types robot palletizing systems have been developed, although motion commands still depend on teach pendant. That is, operator inputs command lines one by one. This is very troublesome and, importantly, user must know how type code. To solve these problems, this paper proposes a combination an optimized...

In the nuclear industry, mechanical engineers spend a significant portion of their time designing equipment such as manipulators, bogies, grippers, and so on. Some customized designs can be considered standard in this area, although it is not unusual to find that an existing design cannot simply copied from one project another. Varied performance requirements dictate redesign, often quite extensive required. However, if something similar has been done before, could use starting point for new...