[논문]입는 외골격 로봇을 위한 선형화된 출력을 갖는 회전형 줄꼬임 기반 구동기

우스만 매흐무드; 드미트리 포포프; 이고르 가파노브; 유지환

doi:10.5302/j.icros.2015.15.9026

[국내논문] 입는 외골격 로봇을 위한 선형화된 출력을 갖는 회전형 줄꼬임 기반 구동기
Rotational Twisted String Actuator with Linearized Output for a Wearable Exoskeleton 원문보기

제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.21 no.6, 2015년, pp.524 - 530

우스만 매흐무드 (한국기술교육대학교 기계공학부) , 드미트리 포포프 (한국기술교육대학교 기계공학부) , 이고르 가파노브 (한국기술교육대학교 기계공학부) , 유지환 (한국기술교육대학교 기계공학부)

Abstract ▼ AI-Helper

Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.

주제어

AI 본문요약
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문제 정의

Since TSA can generate a force only in one direction, two independently controlled motors were always needed in order to develop a bidirectional linear or rotational joint. One of the main objectives of this research is to reduce the number of motors, required to actuate such joint, to one. This issue is address in current work.
This paper explores the possibility of linearization of a TSA-based rotational joint mechanism. The TSA are already considered light weight and quiet.

제안 방법

In order to investigate how the motor torque is transferred to the joint through two nonlinear gears (TSA and pin-yoke system), we need to perform force analysis of the developed design.
The main contribution of this paper is design of a novel TSA mechanism which has a linear relationship between the input angle of twisting and the output angular displacement of a joint. The proposed module can be useful for such applications, where weight and size are the crucial parameters, for example for actuating bidirectional joints of lightweight and mobile exoskeletons.
그림 13. 제안한 메커니즘을 이용한 양방향 조인트의 작동원리.

이론/모형

The curved profile of the yoke was generated according to equations. For the kinematic evaluation, elbow joint model was used. The experimental evaluation was conducted in Solid Works Premium 2014 using motion analysis toolkit.

참고문헌 (16)

I. Gaponov, D. Popov, and J.-H. Ryu, "Twisted string actuation systems: A study of the mathematical model and a comparison of twisted strings," Mechatronics, IEEE/ASME Transactions on, vol. 19, no. 4, pp. 1331-1342, Aug. 2014.

상세보기
I. Godler and T. Sonoda, "Performance evaluation of twisted strings driven robotic finger," Proc. of Ubiquitous Robots and Ambient Intelligence (URAI), pp. 542-547, Nov. 2011.
G. Palli, C. Natale, C. May, C. Melchiorri, and T. Wurtz, "Modeling and control of the twisted string actuation system," Mechatronics, IEEE/ASME Transactions on, vol. 18, no. 2, pp. 664-673, Apr. 2013.

상세보기
D. Popov, I. Gaponov, and J. Ryu, "A preliminary study on a twisted strings-based elbow exoskeleton," Proc. of World Haptics Conference (WHC), pp. 479-484, Apr. 2013.
D. Popov, I. Gaponov, and J.-H. Ryu, "A study on twisted string actuation systems: Mathematical model and its experimental evaluation," Proc. of Intelligent Robots and Systems (IROS), pp. 1245-1250, Oct. 2012.
D. Popov, I. Gaponov, and J.-H. Ryu, "Towards variable stiffness control of antagonistic twisted string actuators," Proc. of Intelligent Robots and Systems (IROS), pp. 2789-2794 Sep. 2014.
T. Sonoda and I. Godler, "Multi-fingered robotic hand employing strings transmission named twist drive," Proc. of Intelligent Robots and Systems (IROS), pp. 2733-2738, Oct. 2010.
M. Suzuki and T. Mayaliara, "A method of real- time coordination of redundant muscles for multi-dof robot joints," Proc. of SICE, pp. 1064-1069, Sep. 2007.
T. WuILrtz, C. May, B. Holz, C. Natale, G. Palli, and C. Melchiorri, "The twisted string actuation system: Modeling and control," Proc. of Advanced Intelligent Mechatronics (AIM), pp. 1215-1220, Jul. 2010.
World Health Organization. (2014, September 30). Facts about ageing. [Online] Available: http://www.who.int/ageing/about/facts/en/
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상세보기
J. Sulzer, M. Peshkin, and J. Patton, "Design of a mobile, inexpensive device for upper extremity rehabilitation at home," Proc. of Rehabilitation Robotics (ICORR), pp. 933-937, Jun. 2007.
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원문보기 상세보기
H.-D. Lee and C.-S. Han, "Technical trend of the lower limb exoskeleton system for the performance enhancement," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 3, pp. 364-371, 2014.

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