생체 이해에 기반한 로봇 – 고성능 로봇에게 인간의 유연함과 안전성 부여하기

1. 생체 이해에
기반한 로봇
김용재 Ph.D.
IRIM Lab. Koreatech
고성능 로봇에게
인간의 유연함과
안정성 부여하기

2. PROFESSIONAL EXPERINECE
2014.3 - Present Assistant Professor, KoreaTech
2012.3 - 2014.3 Research Staff Member, Intelligent Robot Group, SAIT
2011. 3 - 2012.2 Principal Engineer and Visiting Engineer of MIT
Manufacturing Tech. Center, Samsung Electronics
2003. 3 - 2011.2 Senior Engineer, Robot Technology Team
Manufacturing Tech. Center, Samsung Electronics
Education :
~2003, Ph.D in KAIST
~1998, M.S in KAIST
~1996, B.S in KAIST
Major:
Electrical Engineering
and Computer Science
Yong Jae Kim, Ph.D.
RESEARCH INTERESTS
- Mechanism design and Control of
Wearable Robots, Surgical Robots, Humanoid & Interactive Mobile Robots
- Design and Analysis of Flexible Robots and Backdrivable Mechanisms
- Compliance Control for Backdrivable Mechanism & Redundant manipulators
- Idea Generation of Novel Robot System (22 US patents, TRIZ expert Level II)

3. ※ Ref: ABB Yumi
Personal
Robot
Public Robot
“iMaro-PSR”
Humanoid
“RoboRay”
Single Port
Surgical Robot
Samsung
Cleaning robot
2004 2005 2006 20102007 2009 2012 2013
Samsung Robot
Commercialization TF
Cobot
“Rayarm”
Walking Assist
Robot
SAMSUNG ELECTRONICS (2003-2013)

4. Flexible Human
Assist Robot (Confidential Project)
(2014)
Compliant Gripper (미래부)
•2016~
Compression
support frame
Kevlar
Belt
Ni-Ti Cable
Non-stretchable
Fabric
Conduit
Power Assist Glove
•2016~2004 2005 2006 2015 2016 2017
High-Payload
Gravity Compensation
Manipulator
(Confidential Project)
Torque sensing
Manipulator (Confidential Project)
•2015~2004 2005 2006 20152014 2016
DARPA Robotics
Challenge (산자부)
(2014-15)
LIMS: Highly Interactive
Manipulator (2014 ~) Anthropomorphic
dual arm robot for
High speed Interaction
(LAVER LABS)
•2009
•2012 •2013
•2010
2012 2014 2015 2016 20172010
Interactive Robotics &
Innovative Mechanism LabIRIM
•2014
KOREATECH(2014-2017)

5. TABLE OF CONTENTS
1_ 인간의 몸과 로봇 메커니즘 “산업용 로봇은 왜 박수를 칠 수 없을까?”
2_ 생체 이해에 기반한 로봇 핸드 “유연성과 정밀성을 모두 갖춘 로봇이 가능할까?”
2.1_ RoboRay Hand: 고자유도 휴머노이드 핸드
2.2_ TATH Glove : 파지력 증강 소프트 글러브
2.3_ Soft Parallel Gripper: 정밀 유연 그리퍼
3_ 생체 이해에 기반한 로봇 팔 “하이 파이브가 가능한 로봇의 조건은?”
3.1_중력보상 로봇, 가변강성 로봇
3.2_ LIMS2–AMBIDEX: 경량 고강성 로봇 팔
4_ 인간과 협력하는 로봇

6. 1.인간의 몸과 로봇 메커니즘
“산업용 로봇은 왜 박수를 칠 수 없을까?”

7. Robot Manipulators vs. Human Arms
Weight :
Joint speed :
TCP speed :
Payload :
Rotational inertia :
Stiffness :
Repeatability :
Control frequency :
23.9 kg
90 ~180 deg/sec
Approx. 1.5m/sec
7 kg
over 5kgm2
10,000~40,000 Nm/rad
0.1 mm
1kHz ( 3~4kHz, joint control)
Weight :
Joint speed :
TCP speed :
Payload :
Rotational inertia :
Stiffness :
Repeatability :
Control frequency :
3.9 kg
400 ~ 1200 deg/sec
over 15m/sec
-
0.49kgm2
350 Nm/rad (elbow)
?
10Hz (40Hz, uncond. reflex)
Video Ref: ABB Robotics - Fanta Can Challenge- Level II - Superior Motion Control
https://www.youtube.com/watch?v=SOESSCXGhFo
Video Ref: Last 5 Minutes of Super Bowl 51 https://www.youtube.com/watch?v=iN8Rfwr6L2U
Pull Up & Chin Up Progression Guide incl. 10+ Exercises https://m.youtube.com/watch?v=CdtrfXK7bcg
Men's Archery Individual Gold Medal Match | Rio 2016 Replay https://www.youtube.com/watch?v=rzj4FFi7wt8

8. Robot Grippers vs. Human Hands
Weight :
Degrees of Freedom :
Joint speed :
Fingertip force :
Grasp force :
No. of Muscles :
1.5 kg
23 DOF
Over 500 deg/sec
43 N (index, straight pose)
370 N
over 30 muscles
Video Ref.: Grasping different objects quickly https://www.youtube.com/watch?v=ZNjbyCWt93k
Flexible Robot Gripper: 2-finger Adaptive Electric Robot Gripper by Robotiq https://www.youtube.com/watch?v=nkGuI4uiSLM
Soft Robotics Inc. - Adaptive Grasping of Common E-Commerce Items https://www.youtube.com/watch?v=vRQZ5bqwDbg
Video Ref.: Barbell Deadlift Bent Row Complex https://www.youtube.com/watch?v=PUNxkzCjWNk
World's most complicated watch https://www.youtube.com/watch?v=I1L15xehfEA
Slow Motion Rubik's Cube Solve https://www.youtube.com/watch?v=gEPgcWx1JMs

9. Contact materials?
Sensors?
Control Algorithm?
…
Robot Grippers vs. Human Hands
Actuation
- More than 30 muscles
- Highly redundant!
- Tendon driven
Actuation
- 1~ 16 motors
- Difficult to
increase DOF.
- Gear or wire
driven
인체는 구동기의
증가에 대한 부담
이 없다!!
Lubrication
- Lub. by Synovial fluid
- Friction coeff.: 0.003~0.01
Lubrication
- Bearing Friction coeff.:
approx. 0.026
- Teflon : 0.04
베어링 대비
2.6~8.6 분의 1
저마찰 윤활유가
평생 공급된다!!
Contact materials?
Sensors?
Control Algorithm?
…
생체 모양만 모사하는 것은 무의미하다! 어느 level에서 모사해야 할까?
Joints
- Rolling & sliding
- Aligned by ligaments
Joints
- Revolute joints
- Bearing for low frictions
- Vulnerable to Impact
Maintenance
Free!!
평생 장력이 유지
되는 인대구조.

10. 인간의 능력을 모사하는 로봇들
Precise,
High Payload
High Speed
Soft/flexible,
Interactive,
Compliant
유연한 로봇은 정밀한 로봇이 될 수 없는가? 인간은 어디에 위치하는가?
Industrial Robot
+ force sensors
+ contact detection
+ …
Soft Robot
+ Increase payload
+ Position sensors
+ …

11. 2. 생체 이해에 기반한 로봇 핸드
“유연성과 정밀성을 모두 갖춘 로봇이 가능할까?”

12. C6M
Shadow Robotics
3-Finger Gripping Hand
Schunk
5-Finger Hand
Schunk
i-Limb Ultra
Touch Bionics
Robonaut hand
NASA
Barrett hand
Barrett Corp.
Human Hand
27 Bones, 23 DOF, Over 30 muscles
Industrial
Prosthetic
Research & General purpose
C6M
DLR
RoboRay hand
Samsung
Humanoid
The goal : Precise Manipulation + Compliant Power Grasping
인간과 유사한 크기/모양/무게, 마찰 최소화 및 역구동성 최대화
RoboRay Hand ( Samsung Project, published in ICRA2014 )

13. RoboRay Hand : Highly backdrivable Life-Size Robotic Hand
– 1.59kg, 12 DOF for fingers and 2 DOF for the wrist
– Fingertip force 15N / Contact force detection 0.196N
– Tendon-driven mechanism actuated by ball screws and BLDC motors
Weight 1.59kg (including wrist and forearm)
Dimensions
Hand 160 x 80 x 45 mm
Forearm 186 x 76 x 83 mm
DOF
Fingers 12 DOF / 5 Fingers
Wrist 2 DOF
Payload
Peak Fingertip
Force
15N (Stretched Pose)
Speed/
Reduction Ratio
MPR joint 800deg/sec, 47:1
MPP joint 700deg/sec, 57:1
PIP joint 450deg/sec, 82:1
Sensing
Minimum Force Detection
with compensation : 0.196N
w.o. compensation : 0.735N
Actuation
Tendon driven, actuated by
ball screws and BLDC Motors
Electronics
DC 12V, DSP TMS320F2812
EtherCAT Communication
2.1 RoboRay Hand- Specification ( Samsung Project, published in ICRA2014 )

14. RoboRay Hand
- Samsung Project
- Published in
ICRA2014
“RoboRay Hand : A Highly
Backdrivable Robotic Hand
with Sensorless Contact Force
Measurements”
Yong-Jae Kim, et al, ICRA2014

15. Orangutan Baboon Human RoboRay
40 57-58 60 App. 100
Opposability among primates
Metacarpus
of the thumb
1. Biomimetic Design based on functionality of human hands
2.1 Mechanical Design - Configuration
High Opposability
– Human thumb is highly opposable
due to mobile metacarpus
Finger Design Considering Opposability

16. 2. Actuator Configuration Based on the Grasping Functions
Precise Manipulation
Grasp motor
fixed
Pose motor
in motion
- Fixing the grasp motor and actuating
pose motor enable precise adjustment.
Compliant Grasping
Pose
motor
off
Grasp motor
In motion
- Turning the pose motor off and actuating
the grasp motor make compliant grasping
High force
grasp motor
in the forearm
Small
Pose Motor
in the Palm
Proposed
Configuration
MP
joint
PIP
joint
DIP
joint
Underactuated Hands
- Inherent mechanical compliance
- Difficult to manipulate object precisely
Dexterous Hands
- Fully controllable, Precise manipulation
- Subject to be bulky, or slow and weak
2.1 Mechanical Design – Finger Actuation Concept

17. 3. Tension Decoupling Wrist Mechanism using Rolling Joint
Transmission using Conduits
- Saving space, High force
- Frictional, Limited Range of Motion
Built-in Actuators in the Palm
- Relatively Simple
- Subject to be bulky, weak or slow
Proposed
Wrist Mechanism
Wrist Pitch
Motion
Wrist Roll
Motion
Pitch
Direction
Roll
Direction
2p
1p
r
Rolling Joint for Wrist Pitch
Offset Pivot for Wrist Roll
Composed 2-DOF Joint
Rolling
Joint
2.1 Mechanical Design - Wrist Decoupling Concept

18. Stand-alone Performance Test
Gestrure and Grasping Test
(Prototype of RoboRay hand)
Gesture and Manipulation Test
(RoboRay hand without Covers)
Performance back-drivability
- backdrivable force : 0.735N
- Mechanical Efficiency : App. 89.5%
- Stiffness : App. 1.7N/mm
Bearing Efficiency 97.0%
No. Radius (mm) Angle (deg) Efficiency (%)
1 3.2 90 99.4
2 4.0 180 99.4
3 10.0 180 99.7
4 10.0 180 99.7
5 4.0 90 99.5
6 4.0 180 99.4
7 10.0 90 99.8
Ball Screw Efficiency 95%
Actuator Bushing Efficiency 95%
Total Efficiency 89.4%
2.1 Mechanical Design - Wrist Decoupling Concept

19. Flexible/Soft
and Safe
Rigid, Precise
and Strong
Human
hand
- 유연성 + 정밀성
- 기능 수준의 생체 모사
- 기존의 기계적인 요소품 사용
2.1 RoboRay Hand

20. 2.1 Flexible/Soft but Strong?
Flexible/Soft
and Safe
Rigid, Precise
and Strong
Human
hand
Flexible/Soft + High payload
?
- 유연한 구조인 동시에
강한 힘을 전달할 수 있다면...

21. FDC Structure (Force Distributing Compliant Structure)
- 말단부의 강성을 높이거나 조절 가능
- 구조에 따라 규제되는 자유도를 선택가능
Vertical & Lateral
Motion Restricted
torsional motion
permitted
Fin-Gripper
(FESTO. Co)
Vertical Motion
Restricted
Lateral & torsional
motion permitted
Compliant
to side force
Vertical & torsional
Motion Restricted
Lateral motion
permitted
It can withstand
Vertical & torsional Loads!
기존 구조물 Cantilever Beam
- Stiff proximal part
- Soft distal part
High
Stiffness
Low
Stiffness
2.2 New Opportunities by FDC structure
It can withstand Vertical,
lateral & torsional Loads!
All 3 motions
restricted
단순 Cantilever Beam

22. Flexible
beam
Flexible
beam
Dovetails
for
prismatic
motion
Walking Assist Robot, GEMS
Younbaek lee, IROS2017
SAIT, Samsung electronics
GEMS (SAIT, Samsung)
Small
deformationF
Large
deflection
F
Fin-gripper,
Festo.
Fin-gripper (FESTO Co.)
2.2 New Opportunities by FDC structure
FDC Structure
Fin-Gripper
(FESTO. Co)
tension
Except finger bones, all other parts
receive tensile force!
FDC Structure
in Human Fingers

23. The FDC structure for one-side force direction and curvature can be composed only using soft
fabric and belt except one flexible frame.
The proposed structure facilitates transfer of tactile sensation because there are soft fabric and belt
between the object and human hand.
Tension
Compre
-ssion
Tension
Tension
- Only the right flexible frame receives compressive force.
- The others can be replaced by soft materials!
Human finger case
Tension
Moment Assist
Flexible frame
(ABS+NiTi wire)
Belt
(Kevlar)
Non-
stretchable
Fabric
(Polyester)
Only soft materials
between the object
and the finger!!
Wearable FDC Structure
for the Moment Assisting
Glove
2.2 FDC Structures for Moment Assisting Devices

24. TActily Transparent High-Force Assist Glove (TATH Glove) : 촉감 전달이 가능한 파지력 증강 글러브
2-Finger Test Mechanism
Palm side
of finger
Compression
support frame
Conduit
Kevlar
Belt
Nitinol Wire
Low-stretchable
Fabric
Conceptual Design of
5-Finger TATH Glove Concept Proof Mechanism Loading Test (7kg)
2.2 TATH Glove using FDC Structure

25. Customized
FSR Sensor
2.2 TATH Glove using FDC Structure

26. 전기전자통신공학부
Interactive Robotics &
Innovative Mechanism Lab
2.1 Flexible/Soft but Strong?
Flexible/Soft
and Safe
Rigid, Precise
and Strong
Human
hand
Flexible/Soft + High payload
?

27. Flexible/Soft
and Safe
Rigid, Precise
and Strong
Human
hand
Precise parallel
pinching
Parallel pinching
Compliant Grasping
손가락은 부드럽게 감아 쥐지만
손끝은 평행한 정밀파지가 가능?
Compliant
grasping
2.2 Precise parallel pinching + compliant grasping?

28. Parallel pinching
Motion
Compliant Grasping
Motion
Fingertip은 수평을 유지하는 동시에, finger body는
flexible한 구조로 물체를 감싸는 동작이 가능함Finger body
유연 파지
Fingertip
평행 핀칭
Triangular
structure
Parallel
structure
2.2 Gripper with Precise Parallel Pinching & Compliant Grasping
Soft Parallel Gripper : 정밀 평행 파지가 가능한 유연 그리퍼

29. 생체 이해에 기반한 로봇 핸드 -로봇이 유연성과 정밀성을 모두 가지려면
• 생체 이해에 기반한 로봇 핸드
– RoboRay Hand : 정밀조작과 유연 고하중 파지가 가능한 로봇 핸드
– THAT Glove : 촉감전달이 가능한 파지력 증강 글러브
– Soft Parallel Gripper : 정밀 평행 파지가 가능한 유연 그리퍼
• 생체모사는 형상모사가 아니다. 원리와 기능 레벨에서의 생체 모사가 필요하다
• 유연성과 고하중/정밀성은 trade-off 가 아니다. 양쪽을 다 만족하는 구조 도출
Organic
mechanism
Fundamental
principle
Robot Application Organic
mechanism
Fundamental
principle Robot Applications

30. 전기전자통신공학부
Interactive Robotics &
Innovative Mechanism Lab
3. 생체 이해에 기반한 로봇 팔
“하이 파이브가 가능한 로봇의 조건”

31. Ave. Inertia : 0.49kgm2
Ave. Mass : 3.9kg
Estimated Inertia : over 5kgm2
Mass : 23.9kg
Kinetic and potential energy : make a big difference to the safety !!
Stiffness/strength : critical to control performance !!
인간의 팔과 로봇 팔의 안전성과 성능 차이
High-five motion
7.13 m/sec
Throwing Motion
15.61 m/secPrecise, Strong, but dangerous Inherently safe and still strong, precise and fast
VS.
Ev = mv2
1
2
Ep = mgh
운동에너지
위치에너지
높은 강도/강성/정밀도  높은 제어 성능 낮은 질량, 높은 역구동성 근본적인 안정성

32. Design Philosophy and Basic Idea
Motors with
gears
in base frame
Tendons for
joint actuation
Reduction
gears
Motors
Motors
in base frame
Reduction
gears
Tendons for
joint actuation
Conventional Mechanism : Stiff but Heavy
Tendon Driven Mechanism : light weight but low stiffness
Hybrid mechanism : light and Stiff,
light-weight gear mechanism is required!
1) Extremely low inertia to minimize stored kinetic energy.
2) Extremely low mass. Conventional industrial robots consume
most of the motor torque for supporting their own weight.
3) High stiffness comparable to industrial robots.
4) High strength comparable to industrial robots.
5) Efficiency and backdrivability.
In order to apply right amount of energy to the robot, efficient
mechanism with minimal friction is required. It enables sensing of
external force without expensive force or torque sensors.
Stiffness
350Nm/rad
Ave. Inertia : 0.49kgm2
Ave. Mass : 3.9kg
근본적인 안전성과 높은 제어성능을 가지기 위한 조건

33. 170 mm 340 mm370 mm
3D-Printed
ABS frames
Aluminum alloy,
machining parts
인간과 동일한 7 자유도 팔
유연파지가 가능한 핸드
3-DOF
Wrist
1-DOF
Elbow
3-DOF
Shoulder
4-DOF
Hand
3-DOF Neck
Pan, Tilt and Translation
4 Actuators
for Wrist and
Elbow
3 Actuators with
Capstan Reduction
for shoulder
무거운 구동모터들
Body 근처에 배치
Joints with
Tension Amplification
Mechanisms
강성을 증폭하는
경량 감속 메커니즘
LIMS2-AMBIDEX
( Low Inertia Manipulator with High Stiffness and Strength )

34. OVERALL MOTION
-Arm span 2.1m
-7 DOF per arm
-3 DOF per head
-Wrist Yaw ROM:
670 deg

35. 35
ARM WEIGHT
Total : 2,628 g
Wrist : 446 g
Forearm : 171 g
Elbow : 533 g
Upper arm:1,478 g

36. HIGH SPEED
MOTION TEST

37. Strength and Stiffness Analysis (LIMS1 Results)
z
Stiffness:
Stiffness/Inertia:
>

10,000 Nm/rad
8,333 m/rad
1,410 Nm/rad
7,233 m/rad
350 Nm/rad
2,059 Nm/rad
>
>
• 산업용 로봇과 유사한 동적 제어 성능 – 강성/질량
% Anthropomorphic Low-Inertia High-
Stiffness Manipulator for High-Speed Safe
Interaction, IEEE Trans. on Robotics, 2017
• 반복 정밀도 0.426mm (산업용 로봇 0.1mm)
P2P3
P4 P5
P1
500×500×500mm
(a) (b)
P2
P3
P4
P5
P1
TABLE V
POSITIONING REPEATABILITY TEST RESULTS
Pose
Mean
(mm)
Std. Dev.
(mm)
3-Sigma
(mm)
P1 0.138 0.066 0.335
P2 0.148 0.074 0.369
P3 0.103 0.048 0.247
P4 0.187 0.113 0.528
P5 0.189 0.116 0.536
Total 0.153 0.091 0.426
TABLE V
POSITIONING REPEATABILITY TEST RESULTS
Pose
Mean
(mm)
Std. Dev.
(mm)
3-Sigma
(mm)
P1 0.138 0.066 0.335
P2 0.148 0.074 0.369
P3 0.103 0.048 0.247
P4 0.187 0.113 0.528
P5 0.189 0.116 0.536
Total 0.153 0.091 0.426
• Payload 3kg

38. (a) (b)
0 10 20 30 40 50
0
100
200
300
400
500
600
700
800
900
1000
HIC
36
(m
robot
)
Effective mass of robots (kg)
HIC36
1m/sec
2m/sec
3m/sec
4m/sec
5m/sec
6m/sec
7m/sec
8m/sec
9m/sec
10m/sec
0 2 4 6 8 10
2
3
4
5
6
7
8
9
10
Effective mass (kg)
Speed(m/sec)
HIC36= 100
HIC36= 200
HIC36= 300
HIC36= 500
HIC36= 1000
1.47kg
• HIC (Head Injury Criteria) :
a safety criteria derived from
the average acceleration of a
human head and the
application time. mmotor n : 1 m1ink
k khead
mhead
Motor side mass Reducer Link side mass
Under 2m/sec, mass is not a dominant factor of safety ( Any mass satisfy HIC100).
At 6m/sec, effective mass 10kg can cause almost HIC1000 !
To be safe (HIC100) up to 5m/sec, the effective mass must be under 1.47kg !















 
5.2
12
12
,
2
121
1
)(max dtx
tt
ttHIC
t
t
H
tt

HIC 100 : non-life-threatening to the brain,
HIC 1000 : life-threatening injuries
Influence of Mass and Speed to the Safety
10kg, 6m/sec
HIC 958 !!
10kg, 2m/sec
HIC 61
Ev = mv2
1
2
0 10
0
100
200
300
400
H
100
200
105
(a)
0 10 20 30 40 50
0
100
200
300
400
500
600
700
800
900
1000
HIC
36
(m
robot
)
Effective mass of robots (kg)
HIC36
1m/sec
2m/sec
3m/sec
4m/sec
5m/sec
6m/sec
7m/sec
8m/sec
9m/sec
10m/sec
0
2
3
4
5
6
7
8
9
10
Speed(m/sec)
1.1kg, 6m/sec
HIC 100

39. INTERACTION
TEST
: high-five
motion

40. HIGH SPEED
IMPACT TEST
: Clapping

41. • Inertia & Stiffness
– Shoulder to Hand Inertia : 0.502 kgm2
– Elbow Stiffness : 1,410 Nm/rad
• Speed & peak torque
– Shoulder roll pitch: 499deg/s, 42.5~82Nm
– Shoulder Yaw: 749deg/s, 28.4~54.6Nm
– Elbow : 590deg/s, 69.4Nm
– Wrist roll pitch: 1179deg/s, 34.7Nm
– Wrist yaw: 1634deg/s, 25Nm
Specifications
Stiffness
350 Nm/rad
Inertia : 0.49 kgm2
Mass : 3.9 kg
Stiffness
10,000 Nm/rad
Estimated Inertia : 5 kgm2
Mass : 23.9 kg
Inertia : 0.50 kgm2
Mass : 2.63 kg
Stiffness
1,410 Nm/rad
AMBIDEX - LIMS2
Human Arm
Industrial Robot (iiwa)
• Degrees of Freedom
– 7 DOF / Arm
Shoulder 3, elbow 1, wrist 3
– 3 DOF for Neck
Pan, tilt and translation
• Weight
– Arm moving part : 2.63 kg
– Shoulder : 4.17 kg
– Hand : 0.633 kg
LIMS1
LIMS2-AMBIDEX

42. • Block and Tackle - light weight reduction mechanism
1-DOF Tension Amplification Joint
Motor for
Wire Motion
Rolling Joint
Spring Coefficient
of wire K
Wire Tension
Tin
Output Tension
Tout
Actuator Block and Tackle
outxinx
,inout nTT  inout x
n
x 
1
in
in
in
out
out
out Kn
x
T
n
x
T
K 22





Amplified
torque
Reduced
motion
Motor for
Wire Motion
Motor for
Wire Motion
Motor for
Wire Motion
Pulley
– Symmetric wire motion
– High Friction
– Limited Range of motion
• Tension amplification mechanism for revolute joints
Strength : amplified by n times!
Stiffness : amplified by n2 times!
– Symmetric wire motion
– Low Friction
– Wide Range of motion
※“An Innovative Trans-umbilical
Single-Port Surgical Robot” ICRA2014

43. z 2


w
w
leftl
rightl
d
• Joint Design
Elbow Joint using the 1-DOF Tension Amplification Joint
Relationship between
wire motion & joint angle
Developed Elbow Joint
n=6  Stiffness is 36 times higher!
Wire pair for
wrist actuation
Wrist wire length is decoupled
with the wrist motion!!
2
sin

nwll rightleft 
Symmetric
wire motion!
2

n
lleft
baseleftl _
baseleftl _
2
leftl
2
leftl
al
bl
cl
dl
prpr
Simplified and actual wire path
)2( dactualsimple lrll  
Constant
The same motion!
for even number of winding

44. 2-DOF Tension Amplification Joint
Two 1-DOF
Joints
– Suitable for miniaturization
– Frictional wire transmission
– Limited workspace due to
extended wrist
※“An Innovative Trans-umbilical Single-Port
Surgical Robot” ICRA2014
Serial Connection of the 1-DOF tension amplification joint
– How to realize spherical
rolling contact without
slip
– Symmetricity of 2 wire
pairs should be verified
Extension to 2-DOF Mechanism
1-DOF Joint 2-DOF Concept
Challenging points
z
1-DOF Concept

45. 2-DOF Tension Amplification Joint
z
Link 1
Link 2
d
leftPl _
rightTl _
rightPl _
leftTl _
w
a

sinw
cosw

sinw
cosw
b
a b
a b
Bending
Plane
Symmetric
relationship
between wires
2
sincos
2
sinsin
__
__




nwll
nwll
rightTleftT
rightPleftP


Motion of each wire of the wire pairs
is symmetric!
Link 1
2p
1p
2t
1t
distp
Link 2
proxp
Ideal Model
0
Link 1
Link 2
1p
2p
2t
1t
distp
proxp
LIMS1 : 구면 rolling 모션 모사 LIMS2 : 3개 link로 단순화, 내구성 향상

46. Link Type Rolling Joint를 이용한 wrist 개선
Wire for wrist actuation :
n=4 Stiffness is 16 times higher!
Cross roller
Planetary gear
Universal Joint
Wrist 말단부 관절 동력전달 및 감속 구조

47. • 3-finger 4-DOF 핸드
– 파지 물체에 따라 적절히 변형하는 underactuation 구조
– Thumb 자세를 변경하는 추가자유도로 grasping  pinching 변환 가능
LIMS Hand 개발

48. 안전한 로봇 메커니즘 + 
괜찮아
들어와..
정말로
안 아파… 응?
어쩐지 어색해.

49. Summary and Future Work
인간과 협력하는 로봇

50. Summary and Future Work
• 생체 이해에 기반한 로봇 팔 “하이 파이브가 가능한 로봇의 조건은?”
– LIMS2–AMBIDEX: 안전성과 높은 제어 성능을 가진 로봇 팔
• 생활 속에 로봇이 들어오려면 …
Video Ref.: How Smartphones Are Assembled & Manufactured In China. https://www.youtube.com/watch?v=gBL-u53sy_o&t=1s
2013 Artistic Gymnastics World Championships https://www.youtube.com/watch?v=O4pSYZNFej0
The Best Female Rock Climber In the World is 14 Years Old https://m.youtube.com/watch?v=D4zBVD0sL7Y

51. 전기전자통신공학부
Interactive Robotics &
Innovative Mechanism Lab
Thank you for your attention!
김종인
전형석
정용준
이덕원
장우석
Interactive Robotics &
Innovative Mechanism Lab