New exoskeleton-type masterarm with force reflection: controller and integration

Sooyong Lee; Jangwook Lee; Woojin Chung; Munsang Kim; Chong Won Lee; Mignon Park

New exoskeleton-type masterarm with force reflection: controller and integration

Sooyong Lee, Jangwook Lee, Woojin Chung, Munsang Kim, Chong Won Lee, Mignon Park

Research output: Contribution to conference › Paper › peer-review

Abstract

A new concept of the distributed controller architecture for the robot masterarm is introduced. The host controller with the distributed satellite controllers make it possible to reduce possible non-uniform time delay and to have higher position command update rate. The host controller and the satellite controllers are networked via Serial Peripheral Interface (SPI) protocol, with maximum speed of 5 Mbps. A master hand enables to measure the finger movement of the operator.

Original language	English
Pages	1438-1443
Number of pages	6
Publication status	Published - 1999
Event	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 1999 Oct 17 → 1999 Oct 21

Other

Other	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
City	Kyongju, South Korea
Period	99/10/17 → 99/10/21

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

Lee, S., Lee, J., Chung, W., Kim, M., Lee, C. W., & Park, M. (1999). New exoskeleton-type masterarm with force reflection: controller and integration. 1438-1443. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

New exoskeleton-type masterarm with force reflection: controller and integration. / Lee, Sooyong; Lee, Jangwook; Chung, Woojin et al.
1999. 1438-1443 Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Research output: Contribution to conference › Paper › peer-review

Lee, S, Lee, J, Chung, W, Kim, M, Lee, CW & Park, M 1999, 'New exoskeleton-type masterarm with force reflection: controller and integration', Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, 99/10/17 - 99/10/21 pp. 1438-1443.

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abstract = "A new concept of the distributed controller architecture for the robot masterarm is introduced. The host controller with the distributed satellite controllers make it possible to reduce possible non-uniform time delay and to have higher position command update rate. The host controller and the satellite controllers are networked via Serial Peripheral Interface (SPI) protocol, with maximum speed of 5 Mbps. A master hand enables to measure the finger movement of the operator.",

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New exoskeleton-type masterarm with force reflection: controller and integration

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ASJC Scopus subject areas

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