• Journal of Biomedical Engineering Research
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• v.35 no.3
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of the HCI Society of Korea
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• v.1 no.1
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• pp.37-44
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• 2006

Specular reflections provide the visual feedback that describes the material type of an object, its local shape, and lighting environment. In photorealistic rendering, there have been a number of research available to render specular reflections effectively based on a local reflection model. In traditional cel animations and cartoons, specular reflections plays important role in representing artistic intentions for an object and its related environment reflections, so the shapes of highlights are quite stylistic. In this paper, we present a method to render and control stylized specular reflections using projective textures based on principal curvature analysis. Specifying a texture as a pattern of a highlight and projecting the texture on the specular region of a given 3D model, we can obtain a stylized representation of specular reflections. For a given polygonal model, a view point, and a light source, we first find the maximum specular intensity point, and then locate the texture projector along the line parallel to the normal vector and passing through the point. The orientation of the projector is determined by the principal directions at the point. Finally, the size of the projection frustum is determined by the principal curvatures corresponding to the principal directions. The proposed method can control the position, orientation, and size of the specular reflection efficiently by translating the projector along the principal directions, rotating the projector about the normal vector, and scaling the principal curvatures, respectively. The method is be applicable to real-time applications such as cartoon style 3D games. We implement the method by Microsoft DirectX 9.0c SDK and programmable vertex/pixel shaders on Nvidia GeForce FX 7800 graphics subsystems. According to our experimental results, we can render and control the stylized specular reflections for a 3D model of several ten thousands of triangles in real-time.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.117-122
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• 2008

Although the pulse diagnosis is the one of the most important diagnostic process to traditional medical doctors, there is no proper communication tool between experts and trainees. In this paper, we have developed a indentation training system which consists of a hardware measuring indent pressure on artificial arm quantitatively and a software providing a indentation training program. The hardware for measurement of indent pressure profile includes 3 load cells embedded in the artificial arm, signal amplification part and digitization part, NI-USB 6009 with 200Hz sampling rate. For setting up a relationship table between weights and output voltages, 8 standard weights were used. To evaluate this hardware, 3 oriental medical specialists were involved and their indent pressure profile were recorded three times respectively. From these, it was found that pulse diagnosis process could be divided into 3 periods and the maximum load were $500g{\cdot}f$ approximately while doctors perform a pulse diagnosis. The indentation training program was implemented with LabView and designed to monitor the differences between the pressure profile of a expert and that of a trainee so to offer some visual feedback to the trainee. Also, this program could provide the trends of training performances. With this developed system, the education of pulse diagnosis is expected to be more quantitative and effective.