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 conferencePaperpeer-review

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
Pages1438-1443
Number of pages6
Publication statusPublished - 1999
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
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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