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In this paper, we propose the novel gait trajectory adaptation method applicable to an exoskeleton for strength augmentation. The proposed method consists of the online positive feedback trajectory adaptation method and the swing phase duration adaptation method. The swing test results of an exoskeleton prototype showed that the proposed method is more adaptable to the change of the trajectory amplitude...
Modern robot researches focus on disaster response to carry out several missions by a robot itself. Robot software should handle a large number of calculation under real-time constraints. And also, the software design should be complex to process a lot of sensors, which increases a number of factors to consider for the system performance. In this paper, we present the software architecture design...
This paper introduces a rescue robot to extract a casualty from hazardous environment and suggests a specific whole-body behavior strategy suitable for the rescue mission taking into account the characteristics of the robot configuration. Since the robot has redundant degrees of freedom, a task-priority based CLIK as differential inverse kinematics approach is adopted for real-time implementation...
This paper introduces an experimental rescue robot, HUBO T-100 for a development of a Korean rescue robot with a large load carrying capacity and presents its optimal motion control methods. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. Another mission...
Sleep-wake cycle activity monitoring or actigraphy is an essential tool in sleep research and sleep medicine. In this paper, we investigated the clinical validation of a novel wrist actigraph mobile health device incorporating the proportional integration mode (PIM) algorithm. Thirty-three subjects underwent polysomnography (PSG) exams and concurrent wrist actigraphy during an overnight study evaluating...
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