Wednesday 22 November 2023 at 9:00 PM KST (1:00 PM CET, 7:00 AM EST)
By Sehoon Oh (DGIST, Daegu, South Korea)
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Mechatronic systems, recently, are required to interact with humans/environments not only in a safe way but also achieving desired tasks. However, the interaction with humans/environments is a demanding task in terms of actuation, since the interaction involves feedback loops that are frequently unknown. To address this issue, the mechatronic system makes use of interaction force sensing and devises various interaction force controllers. Force sensors (such as strain gauge type) and elastic parts (such as springs) are widely utilized to measure the interaction force, and those sensors have their advantages and drawbacks. In this webinar, a comprehensive view of these interaction force controls is provided: the type of desired interactions, the type of interaction force sensing as well as the design methodologies of force controllers. The difficulty of the interaction force control is discussed theoretically, and the controller designs to attack this problem are discussed. Lastly, the applications to the motor system as well as the robotic system are explained.
Sehoon Oh received the B.S., M.S., and Ph.D. degrees in electrical engineering from The University of Tokyo, Tokyo, Japan, in 1998, 2000, and 2005, respectively. He was a research associate at the University of Tokyo until 2012, a visiting researcher at the University of Texas at Austin from 2010 to 2011, a senior researcher at the Samsung Heavy Industries, and a research professor at Sogang University. He is currently an associate professor at DGIST, Daegu, South Korea. His research interests include the development of force control system for human-friendly motion control algorithms and assistive/exercise devices for people. Dr. Oh received the Best Transactions Paper Award from the IEEE Transactions on Industrial Electronics in 2013.