Martedì 4 giugno
h. 10.30
Sala Riunioni Centro "E.Piaggio"
YONGTAE KIM
Ph.D. School of Convergence Science & Technology
Seoul National University
Compliant Joint Actuator with Dual Spiral Springs, and Dynamic Robotic Systems Laboratory
The main motivation behind the creation of accompliant actuation system is to provide safety, capability of storing energy, and improved performance levels in dynamic tasks. The choice of the proper compliance level pertaining to robots depends on the specific purposes of the robots. In this paper, a dual-spiral-spring actuation system (DSSAS) is proposed to provide high compliance and deformation values for wearable robots. Among many different applications of wearable robotic systems, we aim for systems in which safety and compliance are more important than the control bandwidth of the joints. A spiral spring is selected to take advantage of the characteristics of high levels of compliance and deformation compared to other elastic components. The proposed dual-spiral-spring actuation system uses two spiral springs in opposite directions, as the spiral spring generates torque only in one direction. First, we present the characteristics of the spiral spring for a compliant joint. Then, the design and performance of the DSSAS are demonstrated by experiments.
Dynamic Robotic Systems Laboratory is a robotics laboratory in Korea. We focus on quite various topics because our department name is Trans-disciplinary Studies. So our lab members have various majors like electric engineering, mechanical engineering, computer science, art, and medical engineering.
YONGTAE KIM
Yongtae Kim received the B.S. degree in electronic and electrical engineering from POSTECH, Pohang, Korea, and the M.S. degree in intelligent convergence systems from Seoul National University, Suwon, Korea, in 2008 and 2010, respectively. He is now a Ph.D. candidate in Graduate School of Convergence Science & Technology from Seoul National University, From December 2009 to February 2010, he was a visiting student with the CNRS-AIST JRL, Tsukuba, Japan. His current research interests lie in the areas of compliant actuators, wearable robots, control theory, and sports mechanism for robot.