• Journal of Biosystems Engineering
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• v.25 no.5
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• pp.399-408
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• 2000

This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.1-7
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• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.331-339
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• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.467-473
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• 2007

In this paper, we present a position-based robot hand tracking scheme where a pan-tilt camera is controlled such that a robot hand is always shown in the center of an image frame. We calculate the rotation angles of a pan-tilt camera by transforming the coordinate systems. In order to identify the model parameters, we applied two optimization techniques: a nonlinear least square optimizer and a particle swarm optimizer. From the simulation results, it is shown that the considered parameter identification problem is characterized by a highly multimodal landscape; thus, a global optimization technique such as a particle swarm optimization could be a promising tool to identify the model parameters of a robot hand tracking system, whereas the nonlinear least square optimizer often failed to find an optimal solution even when the initial candidate solutions were selected close to the true optimum.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.964-970
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• 2014

In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2827-2830
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• 2003

Tele manipulator is distingushed from industrial robot by iterating same specified work. Manipulator operator is included in control loop for controlling the telemanipulator because he decide directly during the work and order controllabily reducing the modelling error of telemanipulator which depend on the PID controller. But position-force control method of bidirectional control impose unsafety of vibiration and Analytic Hierachy Method can stabilize for reducing nonlinear modelling error by expert operator because of transformation empirical control rule to linear model.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.75-87
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• 1998

KARES (KAIST Rehabilitation Engineering System) is the rehabilitation robot system in the type of the 6 degrees of freedom robot arm mounted on the wheelchair, in order to assist the independent livelihood of the disabled and the elderly. The interface device for programming and controlling of the robot arm is essential in the rehabilitation robotic system. Specially, in the case of the manual operation of the robot arm, the user has the burden of cognition and the difficulty for the operation of the robot arm. As a remedy, color vision system for the autonomous performance of jobs is proposed, and four basic desired jobs are specified. By mounting the camera in eye-in-hand type, color vision system for KARES is set up. The desired jobs for picking up the target and moving it to the user's face for drinking are successfully performed in real-time at the indoor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1045-1050
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• 2005

This paper describes a design experience of a low-cost 6 DOF spatial tracker system where relative low accuracy and relatively long ranges, wireless communication will be achieved by means of low cost accelerometers and gyros with contemporary microprocessor. However, there are two key problems; one is the bias drift problem and the other is that single or double integration of acceleration signal suffers not only from noise but also from nonlinear effects caused by gravity. To be specific, beginning and stopping of hand motions needs to be accurately detected to initiate and terminate integration process to get position and pose of the hand from accelerometer and gyro signals, since errors due to noise and/or hand-shaking motions accumulated by integration processes. Several experimental results are shown to validate our proposed algorithms.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.231-240
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• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.