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DC Field | Value | Language |
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dc.citation.conferencePlace | AT | - |
dc.citation.conferencePlace | Wollongong, NSW; Australia | - |
dc.citation.endPage | 1654 | - |
dc.citation.startPage | 1649 | - |
dc.citation.title | IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 | - |
dc.contributor.author | Jo, Inseong | - |
dc.contributor.author | Park, Younkyu | - |
dc.contributor.author | Bae, Joonbum | - |
dc.date.accessioned | 2023-12-20T00:41:13Z | - |
dc.date.available | 2023-12-20T00:41:13Z | - |
dc.date.created | 2013-09-23 | - |
dc.date.issued | 2013-07-09 | - |
dc.description.abstract | In this paper, a teleoperation system with an exoskeleton interface is proposed. An upper-limb exoskeleton worn by a user acts as an interface between the user and a robot in a remote place by exchanging position and force information via the Internet. The robot performs a dexterous task by following the upper-limb motion. The applied external force to the robot is transmitted to the exoskeleton worn by the user. To deliver and apply the position and force information accurately, a rotary series elastic mechanism controlled by a proportional and derivative (PD) controller whose gain is tuned by a linear quadratic (LQ) method is applied as an actuator module. A robust control algorithm, disturbance observer, is added to improve the robustness against the modeling uncertainties. A transmission control protocol (TCP) with a packet buffer is used for telecommunications. The performance of the proposed system and control algorithms was verified by experiments with an elbow-actuated upper-limb exoskeleton and a one degrees of freedom (DOF) robotic arm. | - |
dc.identifier.bibliographicCitation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, pp.1649 - 1654 | - |
dc.identifier.doi | 10.1109/AIM.2013.6584333 | - |
dc.identifier.isbn | 978-146735319-9 | - |
dc.identifier.issn | 2159-6255 | - |
dc.identifier.scopusid | 2-s2.0-84883722356 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/46766 | - |
dc.identifier.url | http://ieeexplore.ieee.org/document/6584333/ | - |
dc.language | 영어 | - |
dc.publisher | IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 | - |
dc.title | A teleoperation system with an exoskeleton interface | - |
dc.type | Conference Paper | - |
dc.date.conferenceDate | 2013-07-09 | - |
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