대한의용생체공학회:의공학회지 (Journal of Biomedical Engineering Research)

  • 제35권3호
  • /
  • Pages.50-54
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  • 2014
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  • 1229-0807(pISSN)
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  • 2288-9396(eISSN)
대한의용생체공학회 (The Korean Society of Medical and Biological Engineering)
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로봇 팔의 뇌 신호로부터 유도된 3D 좌표 추적을 위한 Guidance Law 적용에 관한 연구

A Study on Applying Guidance Laws in Developing Algorithm which Enables Robot Arm to Trace 3D Coordinates Derived from Brain Signal

  • 김윤재 (서울대학교 공과대학 바이오엔지니어링 협동과정) ;
  • 박성우 (서울대학교 공과대학 바이오엔지니어링 협동과정) ;
  • 김원식 (서울대학교 공과대학 바이오엔지니어링 협동과정) ;
  • 염홍기 (서울대학교 자연과학대학 뇌과학 협동과정) ;
  • 서한길 (서울대학교병원) ;
  • 이용우 (서울대학교 공과대학 기계항공공학부) ;
  • 방문석 (서울대학교병원) ;
  • 정천기 (서울대학교병원) ;
  • 오병모 (서울대학교병원) ;
  • 김준식 (서울대학교병원) ;
  • 김유단 (서울대학교 공과대학 기계항공공학부) ;
  • 김성완 (서울대학교 공과대학 바이오엔지니어링 협동과정)
  • Kim, Y.J. (Interdisciplinary Program in Bioengineering, Seoul National University) ;
  • Park, S.W. (Interdisciplinary Program in Bioengineering, Seoul National University) ;
  • Kim, W.S. (Interdisciplinary Program in Bioengineering, Seoul National University) ;
  • Yeom, H.G. (Interdisciplinary Program in Neuroscience, Seoul National University) ;
  • Seo, H.G. (Seoul National University Hospital) ;
  • Lee, Y.W. (Department of Mechanical & Aerospace Engineering, Seoul National University) ;
  • Bang, M.S. (Seoul National University Hospital) ;
  • Chung, C.K. (Seoul National University Hospital) ;
  • Oh, B.M. (Seoul National University Hospital) ;
  • Kim, J.S. (Seoul National University Hospital) ;
  • Kim, Y. (Department of Mechanical & Aerospace Engineering, Seoul National University) ;
  • Kim, S. (Interdisciplinary Program in Bioengineering, Seoul National University)
  • 투고 : 2014.05.27
  • 심사 : 2014.06.19
  • 발행 : 2014.06.30
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초록

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

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참고문헌

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