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A Study of Test Method of Powered Exoskeleton Robots focused on Physical Fitness Improvement |
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Seungsub Oh, Jeongwoo Park, Jehun Hahm(Korea Institute of Robot and Convergence, Korea), Jaeho Jang, Hyunchul Kong, Younghwan Hong, Dongmin Kim(FRT, Inc.,, Korea), Jinho Suh(Korea Institute of Robot and Convergence, Korea) |
| Conventional studies on test methods of powered exoskeleton robots are only focused on the human muscle strength augmentation not physical fitness improvement. However, in some cases, it is more important to increase human physical fitness than muscle strength. In this study, we propose an easy and simple test method to quantify human physical fitness improvement using powered exoskeleton robot. |
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Control Model of Electrostatic Rotary Actuator |
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Jemin Woo, Changsun Ahn(Pusan National University, Korea), Bongsu Hahn(Kyungil University, Korea) |
| We describe the control model for a MEMS rotary actuator. Usually, a simple capacitor model is used for control under some assumptions. However, the rotary actuator violates the assumptions, and thus the capacitor model is not valid for the rotary actuator. This paper presents proper simulation model for control that does not require the assumptions of the simple capacitor. The control model is the Poisson equation of voltage and the equation is solved using FDM and SOR. The simulation results show that the proposed model can show charge distribution, which cannot be done in capacitor model. |
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A Robust Control Methodology based on Active Disturbance Rejection Control and Input Shaping |
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Qingru Hua, Yali Xue(Tsinghua University, China), Donghai Li(Tsinghua Univ, China), Li Sun, Yuhui Jin(Southeast University, China) |
| In Active disturbance Rejection Control (ADRC), the total disturbances are lumped and then compensated in the control law in real time. Thereby the algorithm is independent on the exact model and precise information of plant. To further enhance its performance, input-shaping (IS), as a vibration suppression feed forward method, is used to reduce the overshoot. The simulation results demonstrate that the improved ADRC has a fast response capability and maintains a considerable response of disturbance rejection. It is concluded that the combination of the two techniques are applicable. |
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Adaptive slip engagement control of a dry clutch using a clutch torque estimator |
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Jinrak Park, Seibum Choi(KAIST, Korea), Jiwon Oh, Jeongsoo Eo(Hyundai Motor Group, Korea) |
| A clutch friction model is needed to implement feedforward control in clutch slip engagement control, but there are some uncertain parameters in a clutch friction model. In this study, a clutch friction coefficient and a clutch touch point are represented as uncertain parameters of a clutch friction model. Thus, a simultaneous adaptation method of a clutch friction coefficient and a clutch touch point in a clutch friction model, and a feedforward control method of slip engagement of a dry clutch using the adaptation method are proposed in this study. |
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Uncertainty and Disturbance Estimator-Based Tracking Control for Fuzzy Systems |
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Selvaraj Palanisamy(Chungbuk National University, Korea), Kaviarasan Boomipalagan(Anna University University Regional Campus, India), Seung-Hoon Lee, Oh-Min Kwon(Chungbuk National University, Korea) |
| In this paper, a novel robust tracking control scheme is developed for Takagi-Sugeno fuzzy systems subject to completely unknown perturbed dynamics and unknown external disturbances. Unknown model uncertainties and external disturbances are integrated as a lumped disturbance. The uncertainty and disturbance estimator (UDE) algorithm is used to estimate and cancel out the unknown lumped disturbance effect. Two numerical examples with simulations are provided to illustrate the effectiveness of the proposed control scheme. |
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SMCSPO Robust Control Simulation of Heart Rate for Cardiac Rehabilitation in Treadmill Exercise |
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Hyun Hee Kim, Min Cheol Lee(Pusan National University, Korea) |
| Cardiac rehabilitation using a treadmill is a method in which the doctor continuously monitors the patient's heart rate using a sensor and adjusts the speed of the treadmill. Despite treadmills has been developed that feedback heart rate data and automatically adjusts the speed of the treadmill, it has not been commercialized for patients because of stability problem. In this paper, the heart rate control was performed using the robust controller SMCSPO. Control results and estimated perturbations show that the SMCSPO control is suitable for heart rate control. |
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