• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.176-183
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• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).

• Proceedings of the Korea Society of Design Studies Conference
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• 2003.05a
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• pp.256-257
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• 2003

• Journal of IKEEE
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• v.17 no.1
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• pp.44-50
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• 2013

This paper proposed the implementation of haptic-based robot which is following a human by using fundamental sensors on robot arms without additional sensors. Joints in the robot arms have several motors, and their angles can be read out by these motors when a human pushes or pulls the robot arms. So these arms can be used as haptic sensors. The implemented robot follows a human by interacting with robot arms and human hands, as a human follows a human by hands.

• Journal of Korea Multimedia Society
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• v.21 no.12
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• pp.1459-1466
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• 2018

Robots which detect human and recognize action are important factors for human interaction, and many researches have been conducted. Recently, deep learning technology has developed and learning based robot's technology is a major research area. These studies require a database to learn and evaluate for intelligent human perception. In this paper, we propose a multi-modal sensor-based image database condition considering the security task by analyzing the image database to detect the person in the outdoor environment and to recognize the behavior during the running of the robot.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.203-215
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• 2023

Social robots, which are mainly used by individuals, emphasize the importance of human-robot relationships (HRR) more compared to other types of robots. Emotional expression in robots is one of the key factors that imbue HRR with value; emotions are mainly expressed through the face. However, because of cultural and preference differences, the desired robot facial expressions differ subtly depending on the user. It was expected that a robot facial expression customization tool may mitigate such difficulties and consequently improve HRR. To prove this, we created a robot facial expression customization tool and a prototype robot. We implemented a suitable emotion engine for generating robot facial expressions in a dynamic human-robot interaction setting. We conducted experiments and the users agreed that the availability of a customized version of the robot has a more positive effect on HRR than a predefined version of the robot. Moreover, we suggest recommendations for future improvements of the customization process of robot facial expression.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.132-140
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• 1999

This paper treats the estimation of human impedance and their application to human-robot collaboration work. Initially, we perform an experiment at which the human becomes a slave and the robot behaves like a master having F/T sensor on its end. The human impedance expressed in terms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the commanded position data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.287-299
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• 2008

People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.282-287
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• 2007

Humanoid and android robots are emerging as a trend shifts from industrial robot to personal robot. So human-robot interaction will increase. Ultimate objective of humanoid and android would be a robot like a human. In this aspect, implementation of robot's facial expression is necessary in making a human-like robot. This paper proposes a dynamic emotion model for a mascot-type robot to display similar facial and more recognizable expressions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.3 s.258
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• pp.285-294
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• 2007

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.25.3-25
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• 2001

This paper describes a control method of a robot cooperating with a human. A task in which a robot and a human move an object cooperatively is considered. To develop the force controller of the robot, the characteristics of human arm are investigated. The arm is forced to move along a trajectory in the experiment and the exerted force and the displacement are analyzed, It is found the force characteristics of the human arm is regarded as an optimal damper with minimizing a cost function. Then, the model is implemented to a robot and the cooperation of the robot and a human operator is examined. The effectiveness of the derived model is investigated and the experimental results show that the human moves the object supported by the robot with a minimum jerk trajectory.