• Journal of Industrial Technology
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• v.19
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• Journal of The Korean Society of Integrative Medicine
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• v.4 no.4
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• pp.41-51
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• 2016

PURPOSE : The purpose of this study was to identify whether 3D motion input device based mirror therapy could improve on upper extremity function, quality of life and depression in chronic stroke patients METHOD : Thirty six patients with chronic stroke were enrolled and randomly divided into three groups: 3D leapmotion mirror therapy group, mirror therapy group, and sham therapy group. 3D leapmotion mirror therapy group performed 3D motion input device based mirror therapy, mirror therapy group performed general mirror therapy, control group performed sham therapy. All patients received a total of 15 exercise session over a 5 week period (three times per week). Fugl-Meyer Assessment-upper extremity(FMA-UE), Stroke Specific-Quality of Life(SS-QOL), Beck Depression Inventory(BDI) were performed prior to and five weeks after the treatment RESULT : Subjects in the 3D leapmotion mirror therapy group showed significant improvements in upper extremity function, quality of life and depression following training. The changes of upper extremity function, quality of life and depression in the 3D leapmotion mirror therapy group were significantly more than them of the control group. CONCLUSION : The result of this study suggest that 3D motion input device based mirror therapy is an intervention to improve on upper extremity function, quality of life and depression in chronic stroke patients.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.4
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• pp.429-441
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• 2002

This paper concerns extracting 3D motion information from a 3D input device in real time focused to enabling effective human-computer interaction. In particular, we develop a novel algorithm for extracting 6 degrees-of-freedom motion information from a 3D input device by employing an epipolar geometry of stereo camera, color, motion, and structure information, free from requiring the aid of camera calibration object. To extract 3D motion, we first determine the epipolar geometry of stereo camera by computing the perspective projection matrix and perspective distortion matrix. We then incorporate the proposed Motion Adaptive Weighted Unmatched Pixel Count algorithm performing color transformation, unmatched pixel counting, discrete Kalman filtering, and principal component analysis. The extracted 3D motion information can be applied to controlling virtual objects or aiding the navigation device that controls the viewpoint of a user in virtual reality setting. Since the stereo vision-based 3D input device is wireless, it provides users with a means for more natural and efficient interface, thus effectively realizing a feeling of immersion.

• Journal of Information Processing Systems
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• v.6 no.3
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• pp.347-358
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• 2010

This paper presents a measurement system for 3D hand-drawn gesture motion. Many pen-type input devices with Inertial Measurement Units (IMU) have been developed to estimate 3D hand-drawn gesture using the measured acceleration and/or the angular velocity of the device. The crucial procedure in developing these devices is to measure and to analyze their motion or trajectory. In order to verify the trajectory estimated by an IMU-based input device, it is necessary to compare the estimated trajectory to the real trajectory. For measuring the real trajectory of the pen-type device, a PHANToMTM haptic device is utilized because it allows us to measure the 3D motion of the object in real-time. Even though the PHANToMTM measures the position of the hand gesture well, poor initialization may produce a large amount of error. Therefore, this paper proposes a calibration method which can minimize measurement errors.

• Journal of Advanced Navigation Technology
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• v.13 no.4
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• pp.503-508
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• 2009

In this paper, we have designed the auxiliary input device which based on hand-motion recognition. It is aimed at some individually specified person such as the disabled, rehabilitation patient, and the aged. The gyro sensor is used to recognize the hand-motion in 3D space, and communication bandwidth for transceiver is also set to the 2.4GHz. Prototype board includes a set of modules; Gyro sensor, RF transmitter/receiver, MCU for signal processing and USB connector etc. Some experiments are conducted so as to verify the prototype, and as a result, mouse-based curser motion as well as program control are well operated just same as the design specification.

• Journal of the Korea Convergence Society
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• v.10 no.11
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• pp.111-116
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• 2019

With recent rapid development of computer capabilities, various technologies that can facilitate the interaction between humans and computers are being studied. The paradigm tends to change to NUI using the body such as 3D motion, haptics, and multi-touch with GUI using traditional input devices. Various studies have been conducted on transferring human movements to computers using sensors. In addition to the development of optical sensors that can acquire 3D objects, the range of applications in the industrial, medical, and user interface fields has been expanded. In this paper, I provide a model that can execute other programs through gestures instead of the mouse, which is the default input device, and control Windows based on the lip motion. To propose a model which converges with an Android application and can be controlled by various media and voice instruction functions using voice recognition and buttons through connection with a main client. It is expected that Internet media such as video and music can be controlled not only by a client computer but also by an application at a long distance and that convenient media viewing can be performed through the proposal model.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.388-394
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• 2003

To handle the high level radioactive materials such a spent fuel, the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility, The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment.

• Journal of Digital Contents Society
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• v.5 no.1
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• pp.22-27
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• 2004

To handle the high level radioactive materials such a spent fuel, the master-slave manipulaters (MSM) are wide1y used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD model using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the extermal input device of spare ball displays the movement of manipulator. To connect the exterral input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result show that the developed simulation system gives much-improved human interface characteristics and shows satisfactory reponse characteristics in terms of synchronization speed. This should be useful for the development of work`s education system in the environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.3
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• pp.230-245
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• 2005

In this paper, we develop a gesture-based input device equipped with accelerometers and gyroscopes. The sensors measure the inertial measurements, i.e., accelerations and angular velocities produced by the movement of the system when a user is inputting gestures on a plane surface or in a 3D space. The gyroscope measurements are integrated to give orientation of the device and consequently used to compensate the accelerations. The compensated accelerations are doubly integrated to yield the position of the device. With this approach, a user's gesture input trajectories can be recovered without any external sensors. Three versions of motion tracking algorithms are provided to cope with wide spectrum of applications. Then, a Bayesian network based recognition system processes the recovered trajectories to identify the gesture class. Experimental results convincingly show the feasibility and effectiveness of the proposed gesture input device. In order to show practical use of the proposed input method, we implemented a prototype system, which is a gesture-based remote controller (Magic Wand).

• Journal of Magnetics
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• v.8 no.1
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• pp.70-73
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• 2003

We have developed a new tracking system of jaw movement. The system consists of two permanent NdFeB magnets and 32 elements of two-axial fluxgate sensor array, The two magnets are attached to head portion and front tooth. This system does not need any attachments of the head portion or mouth such as clutch or magnetic field sensor except magnets. The proposed system is applicable for five degree of freedom. Position accuracy within 2]m was achieved. We developed a 3D computer input device by using the above mentioned technique.