학위논문(석사) -- 서울대학교대학원 : 공과대학 기계공학부, 2023. 8. 김윤영. ; Misalignment between the center of rotation of a human joint and a robot joint can have a significant impact in terms of efficiency and safety. However, due to the hip joint's high degree of freedom and the fact that its rotation center is located inside the body, the probability of this occurring is relatively high. This study proposes a new methodology to predict the exact location of the hip joint using only the internal sensors. A testbench that can intentionally impose misalignment was constructed, and an R-4bar-R (R4R) spherical mechanism was used to validate this method. By using the correlation of output moment and misalignment, a mapping system was created so that the misalignment could be back-estimated. Gaussian Process Regression was employed to construct the model. ; 인체 관절과 로봇 관절의 회전 중심 사이의 오정렬은 효율성과 안전성에 상당한 영향을 미칠 수 있다. 하지만 고관절은 자유도가 높고 회전 중심이 몸 안쪽에 위치하기에 이러한 오정렬이 발생할 확률이 상대적으로 높다. 본 연구에서는 내부 센서만을 이용하여 고관절의 정확한 위치를 예측하는 새로운 방법론을 제안하였다. 오정렬을 인위적으로 부여할 수 있는 테스트벤치를 제작하고, R-4bar-R (R4R) 구조의 구형 메커니즘을 사용하여 이 방법을 검증하였다. 출력 모멘트와 오정렬의 상관관계를 이용하여 맵핑 시스템을 구축하여 오정렬을 역추적할 수 있도록 하였으며, 이를 위해 가우시안 프로세스 회귀를 활용하여 모델을 구축하였다. ; ABSTRACT i CONTENTS iii LIST OF TABLES v LIST OF FIGURES vi CHAPTER 1. INTRODUCTION 1 1.1 Motivation 1 1.2 Previous Works 2 1.3 Research Objectives 2 CHAPTER 2. Mechanical Design 6 2.1 Spherical Mechanism Testbench 6 2.2 Actuator and Sensors 7 CHAPTER 3. Experiment 13 3.1 Experiment Procedure 13 3.2 Sampling Configuration 14 CHAPTER 4. Results 20 4.1 Testbench Reliability 20 4.2 Correlation between Misalignment and Output Moment 21 4.3 Data Acquisition and Modeling 21 4.4 Centroid Alignment Process 22 CHAPTER 5. Conclusion 30 REFERENCES 31 ABSTRACT (KOREAN) 33 ; 석사


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    Titel :

    Performance Evaluation and Adjustment of Spherical Mechanism in HIp Exoskeleton Robot for Centroid Alignment ; 고관절 외골격 로봇의 중심 정렬을 위한 구면 메커니즘의 성능 평가 및 조정



    Erscheinungsdatum :

    01.01.2023


    Anmerkungen:

    000000000050▲000000000058▲000000179212▲


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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