• 한국정밀공학회지
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• 제31권2호
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• pp.157-164
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• 2014

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper's finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.

• 한국정밀공학회지
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• 제19권1호
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• pp.212-218
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• 2002

This research is the development of a distributed tactile sensor using PVDF film far the detection of the contact state. The prototype of the tactile sensor with 8$\times$8 taxels was fabricated using PVDF film and flexible circuitry. In the fabrication procedure, the electrode and the common electrode patterns are attached to the both side of the 28${\mu}m$ thickness PVDF film. The sensor is covered with polyester film for insulation. The signals of a contact pressure to the tactile sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. And the signals are integrated for taking the force profile. The processed signals of the output of the sensor are visualized to take the shape and force distribution of the contact object in personal computer. The usefulness of the sensor system is verified through the sensing examples.

• 한국기계가공학회지
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• 제20권9호
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• pp.104-109
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• 2021

Tactile sensors and integrated circuits that detect external stimuli have been developed for use in various industries. Most tactile sensors have been developed using the MEMS(micro electro-mechanical systems) process in which metal electrodes and strain sensors are applied to a silicon substrate. However, tactile sensors made of highly brittle silicon lack flexibility and are prone to damage by external forces. Flexible tactile sensors based on polydimethylsiloxane and using a multi-walled carbon nano-tube mixture as a pressure-sensitive material are currently being developed as an alternative to overcome these limitations. In this study, a manufacturing process of pressure-sensitive materials with low initial electrical resistance is developed and applied to the fabrication of flexible tactile sensors. In addition, flexible tactile sensors are developed with pressure-sensitive materials dispensed on a substrate with flexible mechanical properties. Finally, a study is conducted on the change in electrical resistance of pressure-sensitive materials according to the modulus of elasticity of the substrate.

• 한국기계가공학회지
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• 제19권10호
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• pp.111-116
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• 2020

Flexible tactile sensors, which are primarily used as grippers in robots, are mainly used to handle highly elastic or highly flexible objects. That is, flexible grippers are used when an object cannot be sufficiently controlled by applying a specific output force or taking a specific grabbing action. This is because a flexible tactile sensor needs to measure the pressure applied directly to held objects while deforming according to the shape of the object to be handled. CNT-based sensors used to be made from a highly flexible polymer to give flexibility and it is known that the sensors are greatly affected by the contact resistance of the terminal that connects the sensor to an electrical circuit; therefore, this paper clarifies the contact resistance of MWCNTs-based flexible tactile sensors and terminals. The effects of main and plating materials for terminals are investigated and the combinations of main and plating materials that exhibit contact resistance are measured in a typical industrial environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.21-22
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• 2006

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• 센서학회지
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• 제15권4호
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• pp.251-256
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• 2006

This paper describes the flexible force sensor using fiber Bragg grating (FBG) and silicone rubber for the tactile sensation to detect the distributed normal force. The newly designed FBG flexible force has simple structure and can be easily multiplexed with simple wiring compared with the other electric mechanical sensors. We designed the flexible silicone rubber transducer and found the optimum embedding position of FBG in the transducer using the finite element analysis. This flexible force sensor has good performance and is immunity to the electromagnetic field compared with any other kinds of small force sensors for tactile sensation.

• 센서학회지
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• 제18권3호
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• pp.210-216
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• 2009

In this paper the tactile sensor system based on the bending loss of optical fiber sensor is presented. The sensor array was designed with fabric structure. The optical measuring system was composed of LED for light source and CCD camera for the signal light detector. Performance of this tactile sensor system was evaluated in various environments and compared with Harmon's design criteria. The result shows that load range is 3 g$\sim$100 g, resolution is 1.5 g, hysteresis error is 1.5%. The response linearity is good and flexibility of sensor array is excellent.

• Journal of Oral Medicine and Pain
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• 제34권3호
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• pp.317-324
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• 2009

저작근장애 환자의 근육 평가를 위해 촉진과 압력통각역치가 주로 이용되어 왔으나, 본 연구는 근육의 경도와 탄성도을 정량적으로 측정할 수 있는 촉각센서를 이용하여 저작근을 평가하고, 저작근장애가 안면표정근에 영향을 미칠 수 있는지 조사하고자 하였다. 연구 대상은 단국대학교 치과병원 구강내과를 내원한 환자 중 편측 교근에 통증과 압통이 있는 저작근장애 환자 27명으로서 평균연령 $36.4{\pm}13.8$세였다. 근통 외에 턱관절의 이상이나 다른 통증 질환을 함께 가진 환자는 제외하였다. 촉각센서는 Venustron(Axiom Co., JAPAN)을 사용하여 전측두근, 교근, 전두근, 하안륜근, 대관골근, 상하구륜근, 이근에 대한 경도와 탄성도를 측정하였다. 이환측과 비이환측의 근육 경도와 탄성도를 비교하였으며 진단에 따라 국소근동통군과 근막동통군으로 분류하여 비교하였고, 6개월을 기준으로 급성군과 만성군으로 나누어 비교하였다. 편측 저작근장애가 있는 환자의 이환측과 비이환측을 비교했을 때 이환측의 교근과 대관골근에서 근육 경도가 유의성 있게 증가하였고 탄성도는 유의성 있게 감소하였다(p<0.05). 급성군과 만성군, 국소근동통군과 근막동통군 사이에는 유의한 차이없이 이환측 교근과 대관골근에서 경도가 증가하고 탄성도는 감소하였다. 이상의 결과는 교근에 발생한 저작근통은 교근 뿐아니라 안면표정근인 대관골근의 탄성도과 경도에도 영향을 줄 수 있음을 보여준다.

• 한국정밀공학회지
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• 제26권11호
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• pp.29-34
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• 2009

• 전자통신동향분석
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• 제22권2호통권104호
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• pp.1-9
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• 2007

공공 서비스, 홈 서비스, 엔터테인먼트, 매개치료, 개호 등의 다양한 분야에서 인간과 로봇간의 상호작용을 통한 감성적인 교류에 대한 연구가 활발히 진행되고 있다. 점차시각, 음성 인식을 통한 사용자 중심의 감성 인식에서 촉각 기반의 상호 작용을 통한감성을 생성하고 다양한 형태로 감성을 표현하는 로봇들에 대한 개발이 이루어질 것이다. 이에, 본 고에서는 내.외부 센서들을 통한 감성에 영향을 주는 감성적 문맥 인식기술과 로봇 감성 및 행동 표현에 대한 기술 개발 동향에 대하여 살펴 보도록 한다.