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Yoonwoo Ha

2 accepted papers

2022

Simultaneous Positive and Negative Pressure Control Using Disturbance Observer Compensating Coupled Disturbance Dynamics

Chanyong Park, Myeongyun Doh, Yoonwoo Ha, Altair Coutinho, Tuan Anh Luong, Iksu Choi +4
RA-L 2022

This letter introduces a simultaneous positive and negative pressure controller for a pneumatic pump. For precise position or force control of the pneumatic soft actuator, the pressure from the source has to be regulated. When the positive and negative pressures are regulated, coupled dynamics cause

Cited by 6Source ↗Scholar ↗
2022

Soft Artificial Muscle With Proprioceptive Feedback: Design, Modeling and Control

Tuan Anh Luong, Sung-Won Seo, Jeongmin Jeon, Chanyong Park, Myeongyun Doh, Yoonwoo Ha +3
RA-L 2022

Twisted-coiled polymer actuators (TCAs) have been known for many interesting properties such as inherent compliance, high stroke, high power density. However, the current TCAs normally come along with traditional sensing methods such as encoders attached to the link, which limits the application of

Cited by 7Source ↗Scholar ↗