지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Vol.32 No.10
- 발행연도
- 2015.10
- 수록면
- 865 - 871 (7page)
이용수
초록· 키워드
오류제보하기
This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.
목차
1. 서론
2. IPMC와 Block Force 제어
3. IPMC 변위 센서
4. 하이브리드 구조체와 손가락 모형
5. 실험 결과
6. 결론
REFERENCES
참고문헌 (12)
참고문헌 신청
Lo, H. S / 2012 / Exoskeleton Robots for Upper-Limb Rehabilitation: State of the Art and Future Prospects / Medical Engineering and Physics 34(3):261~268
Dollar, A. M. / 2008 / Lower Extremity Exoskeletons and Active Orthoses : Challenges and State-of-the-Art / IEEE Transactions on Robotics 24(1):144~158
Richardson, R. C. / 2003 / Control of Ionic Polymer Metal Composites / IEEE/ASME Transactions on Mechatronics 8(2):245~253
Bhat, N. / 2004 / Precision Force and Position Control of Ionic Polymer-Metal Composite / Proc. of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering 218(6):421~432
Hao, L. / 2012 / A Novel Adaptive Force Control Method for IPMC Manipulation / Smart Materials and Structures 21(7)
Dollar, A. M. / 2008 / Lower Extremity Exoskeletons and Active Orthoses : Challenges and State-of-the-Art / IEEE Transactions on Robotics 24(1):144~158
Richardson, R. C. / 2003 / Control of Ionic Polymer Metal Composites / IEEE/ASME Transactions on Mechatronics 8(2):245~253
Bhat, N. / 2004 / Precision Force and Position Control of Ionic Polymer-Metal Composite / Proc. of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering 218(6):421~432
Hao, L. / 2012 / A Novel Adaptive Force Control Method for IPMC Manipulation / Smart Materials and Structures 21(7)
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UCI(KEPA) : I410-ECN-0101-2016-555-001961063