WO2014046404A3 - 근전도 센서와 가속도 센서를 이용한 로봇 동작 제어 장치 및 방법 - Google Patents

근전도 센서와 가속도 센서를 이용한 로봇 동작 제어 장치 및 방법 Download PDF

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Publication number
WO2014046404A3
WO2014046404A3 PCT/KR2013/008019 KR2013008019W WO2014046404A3 WO 2014046404 A3 WO2014046404 A3 WO 2014046404A3 KR 2013008019 W KR2013008019 W KR 2013008019W WO 2014046404 A3 WO2014046404 A3 WO 2014046404A3
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WO
WIPO (PCT)
Prior art keywords
robot
acceleration sensor
controlling
sensor
electromyography
Prior art date
Application number
PCT/KR2013/008019
Other languages
English (en)
French (fr)
Other versions
WO2014046404A2 (ko
Inventor
신현출
이기원
유경진
Original Assignee
숭실대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 숭실대학교 산학협력단 filed Critical 숭실대학교 산학협력단
Publication of WO2014046404A2 publication Critical patent/WO2014046404A2/ko
Publication of WO2014046404A3 publication Critical patent/WO2014046404A3/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1107—Measuring contraction of parts of the body, e.g. organ, muscle
    • A61B5/1108—Measuring contraction of parts of the body, e.g. organ, muscle of excised organs, e.g. muscle preparations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Dermatology (AREA)
  • General Health & Medical Sciences (AREA)
  • Neurology (AREA)
  • Neurosurgery (AREA)
  • Manipulator (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)

Abstract

본 발명은 근전도 센서와 가속도 센서를 이용한 로봇 동작 제어 장치 및 방법에 관한 것이다. 본 발명에 따르면, 인체에 장착된 근전도 센서로부터 얻은 근전도 신호의 엔트로피 값을 기 저장된 임계값과 비교하는 단계와, 상기 근전도 신호의 엔트로피 값이 상기 임계값 이상이면 상기 로봇의 제어 실행을 결정하는 단계와, 상기 인체에 장착된 가속도 센서로부터 얻은 신호와 기 저장된 가속도 센서 신호의 기준 모델들을 비교하여, 상기 로봇의 제어 동작을 추론하는 단계, 및 상기 추론된 로봇의 제어 동작에 대응되도록 상기 로봇의 구동을 제어하는 단계를 포함하는 로봇 구동 제어 방법을 제공한다. 이에 따르면, 인체에 장착된 근전도 센서와 가속도 센서의 신호를 이용하여 사용자가 로봇의 구동을 원격으로 손쉽게 제어할 수 있다.
PCT/KR2013/008019 2012-09-24 2013-09-05 근전도 센서와 가속도 센서를 이용한 로봇 동작 제어 장치 및 방법 WO2014046404A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2012-0105740 2012-09-24
KR1020120105740A KR101428857B1 (ko) 2012-09-24 2012-09-24 근전도 센서와 가속도 센서를 이용한 로봇 동작 제어 장치 및 방법

Publications (2)

Publication Number Publication Date
WO2014046404A2 WO2014046404A2 (ko) 2014-03-27
WO2014046404A3 true WO2014046404A3 (ko) 2014-05-22

Family

ID=50342041

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2013/008019 WO2014046404A2 (ko) 2012-09-24 2013-09-05 근전도 센서와 가속도 센서를 이용한 로봇 동작 제어 장치 및 방법

Country Status (2)

Country Link
KR (1) KR101428857B1 (ko)
WO (1) WO2014046404A2 (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101849350B1 (ko) * 2015-09-08 2018-04-17 경희대학교 산학협력단 근전도 센서와 관성센서를 사용한 제스처 인식 기반의 모바일 로봇 제어 시스템 및 방법
KR102260258B1 (ko) * 2019-04-11 2021-06-07 광운대학교 산학협력단 휴먼 로봇 인터페이스를 위한 전극 어레이 웨어러블 장착구, 휴먼 로봇 인터페이스를 위한 근전도 측정결과 판단장치, 그리고 이들을 포함하는 휴먼 로봇 인터페이스 시스템
KR102513381B1 (ko) * 2021-04-15 2023-03-22 충남대학교산학협력단 멀티모달 센싱을 이용한 토크와 자세기반 로봇 교시법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003145474A (ja) * 2001-08-31 2003-05-20 Hiroshima Pref Gov 多指可動ロボットハンド及びその把持制御方法
JP2010058250A (ja) * 2008-09-05 2010-03-18 Tokyo Institute Of Technology 筋骨格系モデル作成装置および該方法、筋骨格系機構制御装置ならびに筋骨格系機構システム
KR20120064922A (ko) * 2010-12-10 2012-06-20 숭실대학교산학협력단 근전도 센서와 자이로 센서를 이용한 지화 인식 방법 및 장치
KR20120064923A (ko) * 2010-12-10 2012-06-20 숭실대학교산학협력단 근전도 센서와 가속도 센서를 이용한 로봇 이동 제어 장치 및 방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003145474A (ja) * 2001-08-31 2003-05-20 Hiroshima Pref Gov 多指可動ロボットハンド及びその把持制御方法
JP2010058250A (ja) * 2008-09-05 2010-03-18 Tokyo Institute Of Technology 筋骨格系モデル作成装置および該方法、筋骨格系機構制御装置ならびに筋骨格系機構システム
KR20120064922A (ko) * 2010-12-10 2012-06-20 숭실대학교산학협력단 근전도 센서와 자이로 센서를 이용한 지화 인식 방법 및 장치
KR20120064923A (ko) * 2010-12-10 2012-06-20 숭실대학교산학협력단 근전도 센서와 가속도 센서를 이용한 로봇 이동 제어 장치 및 방법

Also Published As

Publication number Publication date
KR101428857B1 (ko) 2014-08-12
KR20140039518A (ko) 2014-04-02
WO2014046404A2 (ko) 2014-03-27

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