• Proceedings of the Korea Information Processing Society Conference
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• 2015.04a
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• pp.1061-1064
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• 2015

본 논문은 근전도 센서가 탑재된 손목착용형 웨어러블 디바이스를 통하여 스마트폰의 입력방식을 개선시켜 사용자와 스마트폰간의 인터렉션을 보다 발전시킨 시스템을 다룬다. 이 시스템은 사용자가 손목에 착용한 웨어러블 디바이스에 탑재된 근전도센서를 통하여 손의 고유근의 근전도를 측정함으로서 사용자의 엄지와 검지에 가해지는 힘을 탐지하고 이를 바탕으로 사용자가 스마트폰을 터치했을 경우 해당 터치행위가 사용자가 스마트폰을 의도적으로 힘을 가하여 누른 행위인지에 대한 여부를 판단할 수 있다. 결과적으로 본 논문은 스마트폰과 사용자와의 인터렉션에 있어 근전도 센서를 탑재한 웨어러블 디바이스를 활용하여 사용자의 의도를 보다 효과적으로 스마트폰 제어에 반영시킬 수 있는 행위 인지(Activity Recognition) 터치 인터페이스 시스템을 제안한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.509-512
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• 2013

In this paper, force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Journal of the Korean Society of Safety
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• v.16 no.4
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• pp.200-207
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• 2001

The transmission of harmonic vibratory power form a vibrating rigid body into a supporting plate through passive and active isolators is investigated theoretically and experimentally. The theoretical model allows for the transmission of vertical and horizontal harmonic forces and moments about all three coordinate sun. The experiment is to use vibration actuators attached to the intermediate mass of the two-stage mount to minimize the rotational and translational vibration of the intermediate mass. The performance is done by measuring the vibration at the error sensors due to the primary vibration source and measuring the transfer functions from the control sources to the error sensors. Results show that over a frequence range from 1 to 100Hz, transmission into the supporting plate can be reduced substantially by employing in parallel with existing passive isolators, active isolators adjusted to provide appropriate control force amplitudes.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.2
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• pp.133-138
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• 2016

Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.3
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• pp.206-212
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• 2015

This paper proposes the physical human-robot interaction method that controls the robot arms using ITO touch panel sensor as the skin of robot. To implement physical human-robot interaction, the method of using the force/torque sensor and the method of using tactile sensor created by arranging small element type of sensor have been studied. However, these sensors have the pros and cons in terms of price and performance. This study aims to demonstrate the economy of element type sensor and the accuracy of force/torque sensor through experiment by proposing the method of physical interaction using the touch panel as the skin of robot, and by constructing overall system. The experiment was carried out for the method of controlling the robot arm by installing end-effecter and the method of controlling robot arm by creating the gesture with reference point on the touch panel. Through this experiment, the possibility of teaching control using the touch panel was confirmed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.751-752
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1015-1016
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• 2010

• Journal of the Korean Society for Precision Engineering
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• v.24 no.3 s.192
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• pp.47-54
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• 2007

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.811-816
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• 2004

The tactile force sensor was studied using Fiber Bragg Grating (FBG). The FBG is able to multiplex easily and is immune to electromagnetic environment. A sensor frame was designed to a cantilever beam type. Strain of a beam is related with the peak shift of a bragg wavelength. Finite Element Method (FEM) was used for getting an appropriate thickness from 0.2 mm to 0.3 mm thick. FEM results showed that 0.3 mm thick was suitable for the force range 10 N. The force resolutions of 0.039 N and 0.113 N were obtained with optical spectrum analyser and tunable Fabry-Perot filter, respectively.