Abstract: A method includes: forming an imaginary wall at a position spaced apart and outward from feet of the robot when the robot is in a double-leg-support state; kinetically calculating a variation in a distance between a body of the robot and the imaginary wall and a variation in a speed of the body of the robot relative to the imaginary wall using an angle of a joint and lengths of links of the robot; applying the variation in the distance and the variation in the speed to an imaginary spring-damper model formed between the body of the robot and the imaginary wall, and calculating an imaginary reaction force required by the body of the robot; and converting the calculated reaction force into a drive torque required by the body of the robot using a Jacobian transposed matrix.

Abstract: An apparatus for a variable supporting foot of a robot includes a guide groove formed in a foot module of the robot and having an open end. A support plate is disposed in the guide groove and can slide out of the open end of the guide groove. A power conversion unit has one end connected to the support plate. A power generation member is connected to the other end of the power conversion unit, and has a portion at a lower end thereof that extends lower than a lower surface of the foot module. The power generation member generates a driving force as the foot module approaches the ground. The driving force is converted into a rotational motion and is transmitted to the support plate by the power conversion unit to cause the support plate to slide out of the guide groove of the foot module.

Abstract: A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.

Abstract: A method for extracting intended torque for a wearable robot includes a motor torque calculating step, a link rotation calculating step and an intended torque calculating step. In the motor torque calculating step, motor torque is calculated from the angular velocity of rotation of the motor. In the link rotation calculating step, the angular velocity of rotation of the link is calculated. In the intended torque calculating step, the motor torque and the angular velocity of rotation of the link are substituted into a disturbance observer, and an estimated value of the intended torque applied by a wearer is calculated.

Abstract: A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix.

Abstract: Provided are a method and system for extracting intended torque for a wearable robot. The method makes use of an angle or angular velocity of rotation of a motor driving a joint and an angle or angular velocity of rotation of a link connected to the joint, and includes a friction outputting process of outputting an estimated value of friction torque from the angle of rotation of the motor, a motor torque calculating process of calculating motor torque from the angular velocity of rotation of the motor, a link rotation calculating process of calculating the angular velocity of rotation of the link, and an intended torque calculating process of substituting the motor torque and the angular velocity of rotation of the link into a disturbance observer, and calculating an estimated value of the intended torque applied by a wearer.

Abstract: A method of improving sensitivity of a robot which includes: a calculation step, an induction step and a conversion step. The calculation step calculates angular velocities of joints of a robot. The induction step determines induced accelerations at the end of the robot by converting the angular velocities of the joints into a velocity at the end of the robot, using a Jacobian matrix, and by differentiating the velocity. The conversion step determines forces at a middle portion of the robot by multiplying the induced accelerations at the middle portion of the robot by a weight of the robot, multiplies the forces by an enhancement ratio, and then converts results of the multiplication into necessary torque at the joints, using a Jacobian matrix.

Abstract: A method of controlling the gait of a wearable robot using foot sensors of the robot. Whether or not the robot is walking is determined. When the robot is walking, whether the robot is supported on both feet or one foot using the foot sensors is determined. When the robot is walking and is supported on both feet, posture-maintaining control is carried out. When the robot is walking and is supported on one foot, support control is carried out over a supporting leg based on gravity compensation and load compensation. When the robot is walking and is supported on one foot, an imaginary repulsive force by which a swinging leg swings is generated.

Abstract: The present invention provides systems, methods, and computer-readable media for controlling a suspension for a vehicle in which a platform model and a suspension model are provided and a first neural oscillator model and a second neural oscillator model that feed back an output to each model to acquire displacements of the platform model and the suspension model from displacements inputted into a tire, acquire feedbacks of the first neural oscillator model and the second neural oscillator model from the displacements of the platform model and the suspension model, and acquire pressing force required in the suspension for the vehicle from the feedback of the second neural oscillator model.

Abstract: Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque ?d with an acting torque ?c measured using a sensor and applied by a support surface and then an actual torque ? applied by the ankle of a foot is instead fed back into the control system. Therefore, proper balance of the walking robot is ensured.

Abstract: The present invention provides systems, methods, and computer-readable media for controlling a suspension for a vehicle in which a platform model and a suspension model are provided and a first neural oscillator model and a second neural oscillator model that feed back an output to each model to acquire displacements of the platform model and the suspension model from displacements inputted into a tire, acquire feedbacks of the first neural oscillator model and the second neural oscillator model from the displacements of the platform model and the suspension model, and acquire pressing force required in the suspension for the vehicle from the feedback of the second neural oscillator model.

Abstract: Disclosed herein is a method and system for controlling the lifting operation of a wearable robot. A final force that must be applied by the robot to an object upon conducting a lifting operation is derived based on a difference between a weight force applied by the object to the robot and an apply force applied by a wearing user to the robot. A target position to which the robot lifts the object is set. A spring-damper virtual force model is applied to an end of the robot and to joints of the robot, the final force is converted into final torques required by the joints of the robot by being incorporated into the virtual force model, and then the joints of the robot are operated based on the final torques. The final force is fixed once the robot has lifted the object to the target position.

Abstract: Disclosed herein is a method of obtaining the intended manipulation torque of a user for a wearable robot. The method allows the wearable robot, the motion of each joint of which is operated by a motor and which is capable of measuring a variation in current in the motor of each joint and calculating a torque at each joint, to simply and rapidly extract the intended manipulation torque of the user using both an acceleration value (e.g., measured by an acceleration sensor installed on a gripper), and the current variation of the motor, in a state in which the wearable robot does not know the weight of a weight object to be lifted with the gripper. Accordingly, the wearable robot may be suitably controlled at a comparatively lower cost.

Abstract: Disclosed herein a method of controlling the balance of a walking robot. In the method, a location and an acceleration of a center of gravity of the walking robot are detected in a three-dimensional (3D) x, y, z coordinate system. A location of a Zero Moment Point (ZMP) on an xy plane is detected using the location of the center of gravity and the acceleration of the center of gravity in x- and y-axis directions. Walking of the walking robot is controlled so that the ZMP is located inside a stable area including a bottom of a foot of the walking robot on the xy plane.

Abstract: A system for controlling driving of a wearable robot may include a drive unit for operating a drive joint of the robot, a measurement unit for measuring an actual angle and an actual angular velocity of the drive joint in the robot, a sensing unit for determining a human torque applied by a wearing user to the drive joint, and a control unit for determining a target angular velocity of the robot by applying the determined human torque to an admittance model and for determining a required torque that may be input to the drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and the actual angular velocity of the robot.

Abstract: Disclosed is an apparatus for extracting a drive characteristic of a drive system. The apparatus includes a drive unit supplying a rotating force to a drive shaft. A force-torque sensor unit is detachably coupled to the drive shaft of the drive unit, and may not rotate when it is coupled to the drive shaft. A load unit is detachably coupled to the drive shaft of the drive unit. A control unit is configured to control drive energy supplied to the drive unit, derive a drive-unit constant by using a relation between the input drive energy and measurement torque when the drive unit is coupled to the force-torque sensor unit, calculate frictional torque using the derived drive-unit constant, the input drive energy, an inertia moment and angular acceleration of the load unit when the drive unit is coupled to the load unit, and derive a frictional coefficient from the frictional torque.

Abstract: Disclosed is a module for measuring repulsive force for a walking robot. More specifically the module includes a base frame and plurality of installation units provided on the base frame and surrounded by a plurality of side surfaces configured as inclined surfaces having a predetermined angle and a top surface formed in a horizontal plane. The module also includes a 1-axis force sensor provided on each side surface and the top surface of the installation unit. A control unit calculates a sum force of the respective installation units from measurement data of the force sensor and calculates the ground reaction force (GRF) by integrating the sum force of the respective installation units.

Abstract: A semiconductor device including a plug; a lower insulating film surrounding a lower sidewall of the plug; a spacer surrounding an upper sidewall of the plug; and a first interconnection line on the plug, the lower insulating film, and the spacer, the first interconnection line being in contact with an upper surface of the plug, wherein an upper portion of the spacer protrudes higher than the upper surface of the plug.

Abstract: The present invention relates to a drug releasing membrane for stent and a drug releasing stent for intraluminal expansion comprising the same. The drug releasing membrane according to the present invention has a two layer structure consisting of an inner layer M1 and an outer layer M2, the inner layer M is a thermosetting resin layer, and said outer layer M2 is a thermoplastic resin layer containing drug particles. In addition, the drug releasing stent for intraluminal expansion according to the present invention has a structure in which said drug releasing membrane M is inserted in a cylindrical stent body S woven with shape memory alloy wire. The present invention has excellent physical properties in spite of contact with bile during use, and is also excellent in drug therapeutic effect since drug is released only in one direction toward the skin.

Abstract: The present invention relates to a stent for intraluminal expansion. The stent for intraluminal expansion comprises an inner stent A, an outer stent B and fixing threads C for fixing these stents as one unit. The outer stent B is inserted over the inner stent A in such a way that the space portions of the inner stent A and the space portions of the outer stent B are alternated with each other, so the outer surface of the inner stent and the inner surface of the outer stent are in close contact with each other, and both ends of the outer stent and inner stent are fixed as one unit by fixing threads C.