Brian Byunghyun Kang

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Soft wearable robots are good alternatives to rigid-frame exoskeletons because they are compact and lightweight. This article describes a soft wearable hand robot called the Exo-Glove that uses a soft tendon routing system and an underactuation adaptive mechanism. The proposed system can be used to develop other types of soft wearable robots. The glove part(More)
This paper presents the development of a polymer-based tendon-driven wearable robotic hand, Exo-Glove Poly. Unlike the previously developed Exo-Glove, a fabric-based tendon-driven wearable robotic hand, Exo-Glove Poly was developed using silicone to allow for sanitization between users in multiple-user environments such as hospitals. Exo-Glove Poly was(More)
A soft wearable robot with a tendon drive is a promising technology that enables a wearable robot to be compact and lightweight. A soft tendon routing system was previously proposed to apply a tendon drive to a soft wearable robot. In this study, a slack enabling mechanism was proposed to increase the efficiency and guarantee the safety of the soft tendon(More)
A soft wearable robot, which is an emerging type of wearable robot, can take advantage of tendon-driven mechanisms with a Bowden cable. These tendon-driven mechanisms benefits soft wearable robots because the actuator can be remotely placed and the transmission is very compact. However, it is difficult to compensate the friction along the Bowden cable which(More)
This paper presents the design analysis and the fabrication process of Tendon Anchoring Support(TA Support). TA Support is developed to deliver the wire tension effectively to target actuation point, fingertip, while developing SNU Exo-Glove, which is joint-less tendon driven robot. Based on the force analysis of SNU Exo-Glove, TA Support was developed with(More)
Tendon drive is commonly used in various kind of machines. And, the spool is commonly used to wind and unwind the tendon because of its simplicity and compactness. However, the slack of the tendon causes the derailment of the tendon out of the spool and fails the system. In order to use the tendon drive with the spool without concerning about the(More)
To assist the walk of the physically weak people is important to increase their quality of life because it can expand their activity area. We present a soft wearable knee extensor, called Knee Tendon-suit, which assist the knee extension during climbing stairs. To achieve our goal, we used the tendon-driven mechanism for transmitting the actuation force and(More)
In the workshop, we will present a novel tendon-driven soft wearable robot to assist knee extension, called Knee Tendon-suit, and the first preliminary result to show the development issues and the performance. Expected user of Knee Tendon-suit is physically weak people who have troubles climbing stairs or hill [1]. Knee extension is the main motor function(More)
Control of tendon driven wearable robot cannot be performed with rigid frame model because of nonlinearity factors of the robot. To control the tendon driven wearable robotic hand, development of model for tendon driven wearable robot hand is inevitable. As a first step, modeling of MCP joint flexion has been developed and presented in this paper.
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