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: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages1438-1443
Number of pages6
Volume3
Publication statusPublished - 1999 Dec 1
Event1999 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 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • 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. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1438-1443). IEEE.