보행재활 웨어러블 로봇의 Actuation Transparency를 위한 제어 알고리즘 및 로봇 시스템 아키텍처
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 김형준 | ko |
| dc.contributor.author | 공경철 | ko |
| dc.contributor.author | 정민구 | ko |
| dc.date.accessioned | 2023-11-21T01:02:10Z | - |
| dc.date.available | 2023-11-21T01:02:10Z | - |
| dc.date.created | 2023-11-20 | - |
| dc.date.created | 2023-11-20 | - |
| dc.date.issued | 2023-02-17 | - |
| dc.identifier.citation | 제18회 한국로봇종합학술대회 | - |
| dc.identifier.uri | http://hdl.handle.net/10203/314903 | - |
| dc.description.abstract | The mechanical impedance reduction of the gait rehabilitation wearable is essential for the safe rehabilitation of patients by offsetting the load caused by the robot. In addition, it becomes a basic premise for precise control of the assistance/resistance torque applied to the wearer. In this paper, an impedance reduction controller (IRC) design method is introduced to reduce the mechanical impedance caused by the actuator in a wearable robot for gait rehabilitation. A series of processes for linearizing the system by compensating for nonlinear friction, identifying the model of the linearized system, and designing the IRC based on the model are introduced. | - |
| dc.language | Korean | - |
| dc.publisher | 한국로봇학회 | - |
| dc.title | 보행재활 웨어러블 로봇의 Actuation Transparency를 위한 제어 알고리즘 및 로봇 시스템 아키텍처 | - |
| dc.type | Conference | - |
| dc.type.rims | CONF | - |
| dc.citation.publicationname | 제18회 한국로봇종합학술대회 | - |
| dc.identifier.conferencecountry | KO | - |
| dc.identifier.conferencelocation | 휘닉스평창 | - |
| dc.contributor.localauthor | 공경철 | - |
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