서지주요정보
휠체어 부착형 재활 서비스 로봇의 조작 성능 향상에 관한 연구 = A study on the enhancement of manipulation performance of wheelchair-mounted rehabilitation service robot
서명 / 저자 휠체어 부착형 재활 서비스 로봇의 조작 성능 향상에 관한 연구 = A study on the enhancement of manipulation performance of wheelchair-mounted rehabilitation service robot / 정진우.
저자명 정진우 ; Jung, Jin-Woo
발행사항 [대전 : 한국과학기술원, 1999].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8009788

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 99104

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

In this thesis, the manipulation issue is investigated for a wheelchair-mounted rehabilitation service robot called KARES(KAist Rehabilitation Engineering Service system). The robot system has been realized to help the disabled / the elderly. One of the most important factors to be considered in the design of this system is to enhance reliability so that the disabled / the elderly can use with feelings of safety and confidence. For enhancing the reliability, it is suggested that autonomous manipulation and manual manipulation be integrated in a proper manner. The basic autonomous tasks for KARES are grasping an object on the table, grasping an object on the floor, and manipulating a switch on the wall. For manual manipulation of the disabled / the elderly, a 3D input device called SPACEBALL 2003 is introduced and an auxiliary device is designed for the disabled to facilitate rotational input function. Using this auxiliary device and SPACEBALL 2003, the disabled / the elderly are able to make a manual adjustment during the autonomous task. Integration of autonomous and manual operation proves to be robust and reliable. The performance of the system is verified by experiment.

서지기타정보

서지기타정보
청구기호 {MEE 99104
형태사항 v, 61 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jin-Woo Jung
지도교수의 한글표기 : 변증남
지도교수의 영문표기 : Zeung-Nam Bien
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학과,
서지주기 참고문헌 수록
주제 휠체어 부착형 재활 서비스 로봇
신뢰도
3차원 입력기
자동 조작과 수동 조작의 결합
Wheelchair-mounted rehabilitation service robot
Reliability
3D input device
Integration of autonomous and manual manipulation
QR CODE qr code