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Electromagnetically Actuated Soft Hydrogel Microrobots for Biomedical Applications |
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Sukho Park(DGIST, Korea) |
| This paper introduces three electromagnetically actuated microrobots using temperature responsive hydrogel (NIPAAM). First, we proposed a selective microrobot control using a microclamper which consists of temperature responsive hydrogel blocks and microheaters. Second, we developed a thermo-electromagnetically actuated microrobot which is composed of an electromagnetically actuated layer and a thermo-responsive NIPAAM layer. Finally, we proposed a soft NIPAAM hydrogel microrobot with a spring shape which can be moved by EMA system and swelled or deswelled by the external NIR stimulus. |
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Development of 6 DOF Robot High-speed Controller for Pipe coating Automation System |
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Jeongwan Lee(Kangwon National University, Korea) |
| Development of 6 DOF Robot High-speed Controller for Pipe Powder Coating Automation system
1. Motor Control system is based on Band Unit
2. Position the multiple types of hanger pipe at specific point
3. speed control of the 6 DOF Robot
4. Detection of pipe mounting rings and synchronization with robot
5. Apply the controller and GUI to manage the entire system |
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Subject-specific Assessment for Upper-limb Reaching Movement Performance of Hemiplegia Patient based on the Nonlinear Model for Individualized Training |
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james Hyungsup Moon, Jongbum Kim, Jonghyun Kim(DGIST, Korea) |
| We propose a model that represents normal reaching movement of the less-affected side of post-stroke and evaluate the performance of the affected-side based on the proposed model. In order to verify the reliability of the model, the correlation coefficient of the reaching movement results of normal persons were validated. We observed that the less-affected side limb of most post-stroke patients had similar motor characteristics to that of normal subjects according to the proposed model, and thus the performance of the affected side was evaluated based on the normal side. |
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Human limb impedance estimation performance of a widely used robot for human limb studies (HapticMASTER) |
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Sang Hoon Kang, Hyunah Kang, Sung Shin Kim(UNIST, Korea) |
| The goal of this study was to evaluate the accuracy and reliability of the stochastic estimation of 3-D human upper limb MITFM using HapticMASTER. The results show that one should be careful in using HapticMASTER for the stochastic estimation of human arm impedance. |
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Robot based Shoe Manufacturing System |
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Min-Gyu Kim, Juhyun Kim, Dongbin Shin, Maolin Jin(Korea Institute of Robot and Convergence, Korea) |
| This paper presents robot-based shoe manufacturing systems for the upper and sole manufacturing process. For upper manufacturing process, we propose a robot path generation algorithm for upper roughing and cementing by industrial robot manipulators, where working trajectory on upper is acquired by using 3D digitizer. For the sole manufacturing process, we use an industrial robot manipulator with a cementing tool and a 3D scanning system. We propose a trajectory generation algorithm for sole cementing to transform 3D information of sole into 6D information of robot. |
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Robust driving wheel control on soft soil for an off-road vehicle |
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Sera Kim, Gwanyoung Kim, Soo Jin Lee(Myongji University, Korea) |
| An off-road vehicle can be driven on soft soil. In this situation, vehicle wheels encounter a large resistance due to the deformation of soil, which can make the vehicle not to move forward. Hence, it is necessary to obtain a sufficient traction force to move a vehicle when it is driven on a deformable soil. The traction force acted on a wheel is related to slip between wheel and soil. Therefore, this study attempts to achieve the required slip ratio of the driving wheel on soft soil by using the robust wheel control. |
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