연구과제
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초록
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ㅇ 연구목표
- 근원적으로 안전한 신개념 로봇 매니퓰레이터 기술과 로봇에 감각을 부여하는 전자 피부(E-Skin)의 설계/대량 생산 기술 및 로봇-작업자 간의 인터페이스 기술 개발을 통하여 미래 인간-로봇 공존 생산 환경에 적용...

ㅇ 연구목표
- 근원적으로 안전한 신개념 로봇 매니퓰레이터 기술과 로봇에 감각을 부여하는 전자 피부(E-Skin)의 설계/대량 생산 기술 및 로봇-작업자 간의 인터페이스 기술 개발을 통하여 미래 인간-로봇 공존 생산 환경에 적용 가능한 세계 최고 수준의 협업 로봇 원천 기술 확보 및 기술 이전을 통한 국내 로봇 기업에의 보급

ㅇ 연구내용
- 로봇 자중 보상 및 인공 근육 모듈 기술에 의해 유연하고 낮은 구동력으로 동작하는 근원적으로 안전한 신개념 로봇 매니퓰레이터와 로봇에 감각을 부여하는 전자 피부(E-Skin)의 설계 및 대량 생산 기술 개발, 인간 생체 신호와 전자피부 신호를 통합한 인간-로봇 간의 인터페이스 기술 개발 등 인간 친화형 로봇 핵심 원천기술 확보를 통해 개발한 협업 로봇으로 인간-로봇 팀 협업 작업 구현을 통한 기술 검증

( 출처 : ( 1 ) 단계 보고서 요약 3p )

Abstract
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1. Purpose and necessity of R & D
□ Purpose of R & D
ㅇ To develop the world's best human-robot collaboration technology that...

1. Purpose and necessity of R & D
□ Purpose of R & D
ㅇ To develop the world's best human-robot collaboration technology that can change the production paradigm to human-robot near distance collaboration: development of the human-friendly robotic technology suitable for human-robot coexistence environment.

□ Necessity of R & D
ㅇ Due to the global aging trend and the revival of the manufacturing industry, demand for robots has increased sharply in order to improve manufacturing productivity and reduce costs.
- Expected increase in automation-dependent process due to rising labor costs in emerging economies such as China
- Demand for human-robot hybrid process for automation of high-level process which is difficult to completely automate with robot just like assembly process
- Robot automation demand is expected to increase globally due to the return of manufacturing in developed countries
- Simple repetitive task robot instead of human in isolated space → Collaborative robot sharing working space with humans, resulting in manufacturing paradigm change of manufacturing robot
ㅇ Soaring human-robot coexistence environment
- Necessity of application of robot in almost all fields such as medical, defense, and health
- In order to apply robots in these fields, it is necessary to have human-friendly robot function that can be used in human-robot coexistence environment.
ㅇ Industry system innovation such as Industry 4.0
- The integration of ICT and the machinery industry has led to a rapid increase in demand to optimize the entire production process,
- The industrial structure is changing from mass production to multi-product / varietal production and flexible production environment. In order to cope with this, robot technology suitable for human-robot co-production environment is necessarily needed.

2. Contents and scope of R & D
□ Contents of R & D
ㅇ R & D targets (core development contents)
- What is a human friendly robot? A safe and friendly robot that can work and stay with humans
• Because it operates with very little power, it is safe and quiet enough to work with humans even in environments without a protective fence.
• Robots that have similar shapes and senses to human beings and have intuitive interfaces and are easy to use
• It would be possible to have new production environment in which human workers share a common working space with robots, by developing human-robot collaboration techniques in the future.

ㅇ Core research content
- Human-friendly Next Generation Robot Design / Control Technology: Self-weight compensation mechanism based on elastic mechanism, implementation of high power density artificial muscle module
- E-Skin technology: artificial skin that detects pressure, position, etc., can be attached to arbitrary shape surface of robot, smart platform with sensor / driving element
- Human-friendly interface technology: Robot grasps intent of human motion (direct teaching, intuitive and automated human-robot interface)
- System integration technology: Integration of detailed technologies developed in this project, construction and demonstration of testbed assembly work of small parts through human-robot collaboration

4. Plan to utilize R & D achievements
□ Expansion of research projects, utilization perspective of acquired technologies and knowledge
◦ Deriving the government projects for the diffusion of new concept artificial muscles started from our project
◦ Promotion of high-performance cooperative robot with self-weight compensation safety technology and control technology
- Development of industrial manipulator satisfying TS 15066

□ Technology transfer and commercialization of research results, perspective of enterprise support
◦ Parts technology such as self-weight compensation actuator, artificial muscle actuator, flexible electronic skin, etc.,
◦ Enterprise consulting related to safety of industrial robots
- Cooperative Robot Application and Safety Enhancement Trend under Industrial Safety and Health Law (Based on TS 15066)
◦ Promoting commercialization of robotic systems such as self-weight compensation robots and artificial muscle robots through robot companies

□ Use of research results
◦ Tangible outputs (products, research reports, acquired research equipment, etc.)
- Developed safety robots could be used for the preliminary study of the related tasks such as the development of high-priced underfloor safe two-arm robots and TS 15066 satisfactory industrial manipulator development.
◦ Intangible products (patents, software, research data, etc.)
- Attempts to make technology(such as patents, development software, etc) transfer successful in various fields.
- Gravity compensation mechanism robot control S/W, and artificial muscle actuator control S/W are worthy of commercialization.

( 출처 : SUMMARY 10p )

목차
Contents
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• 표지 ... 1
• 제 출 문 ... 2
• [ 1 ] 단계 보고서 ... 3
• 요 약 문 ... 4
• SUMMARY ... 10
• CONTENTS ... 17
• 목차 ... 18
• 제1장 연구개발과제의 개요 ... 19
• 1. 연구개발의 목적 ... 19
• 2. 연구개발의 필요성 및 범위 ... 20
• 제2장 국내외 기술개발 현황 ... 32
• 1. 국외 기술개발 현황 및 전망 ... 32
• 2. 국내 기술개발 현황 및 전망 ... 62
• 제3장 연구개발수행 내용 및 결과 ... 75
• 1. 자중보상 안전 매니퓰레이터 ... 75
• 2. 인공근육기반 고효율 구동 메커니즘 ... 98
• 3. 다중센싱 전자피부 ... 109
• 4. 인간친화형 데모교시 ... 114
• 제4장 목표달성도 및 관련분야에의 기여도 ... 119
• 1. 목표달성도 종합 ... 119
• 2. 관련분야에의 기여 ... 128
• 제5장 연구개발성과의 활용계획 ... 131
• 1. 연구개발성과 활용 방안 ... 131
• 2. 연구개발성과의 파급효과 ... 132
• 제6장 연구시설·장비 현황 ... 135
• 제7장 참고 문헌 ... 136
• 끝페이지 ... 137

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