dc.citation.conferencePlace |
KO |
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dc.citation.conferencePlace |
Daejeon Convention CenterDaejeon |
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dc.citation.endPage |
1024 |
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dc.citation.startPage |
1019 |
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dc.citation.title |
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
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dc.contributor.author |
Park, Yeongyu |
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dc.contributor.author |
Jo, Inseong |
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dc.contributor.author |
Bae, Joonbum |
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dc.date.accessioned |
2023-12-19T20:07:22Z |
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dc.date.available |
2023-12-19T20:07:22Z |
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dc.date.created |
2016-12-27 |
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dc.date.issued |
2016-10-12 |
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dc.description.abstract |
In this paper, a hand exoskeleton system for virtual reality is proposed. As a virtual reality interface for the hand, a wearable system should be able to measure finger joint angles and apply force feedback to the fingers with a simple and light design. In the proposed system, the finger joint angles are measured by a tendon-inspired cable mechanism. Also, another cable is used for force feedback to the finger. Using the measured finger joint angles and motor currents, the cable-driven actuation system applies desired force to the fingers. That is, when the desired force is zero, the motor position is controlled to track the changed cable length; when the desired force needs to be applied, the motor current is controlled to generate the desired force. For a smooth transition between two control strategies, linearly changing proportions of each control strategy is applied in the transition range. A prototype of the proposed system was manufactured, and the proposed control algorithms were verified by experiments. |
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dc.identifier.bibliographicCitation |
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, pp.1019 - 1024 |
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dc.identifier.doi |
10.1109/IROS.2016.7759174 |
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dc.identifier.issn |
2153-0858 |
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dc.identifier.scopusid |
2-s2.0-85006488829 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/35370 |
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dc.identifier.url |
http://ieeexplore.ieee.org/document/7759174/ |
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dc.language |
영어 |
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dc.publisher |
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
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dc.title |
Development of a Dual-Cable Hand Exoskeleton System for Virtual Reality |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2016-10-09 |
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