• 로봇학회논문지
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• 제6권1호
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• pp.27-33
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• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• 한국화예디자인학연구
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• 제42호
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• pp.133-144
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• 2020

의인화는 커뮤니케이션 디자인 영역에서 흔히 사용되는 소구 방법 중 하나로 인간이 접하는 거의 모든 시각이미지는 이러한 의인화 현상에 노출되어 있고 우리는 의식적으로 또는 무의식적으로 의인화 현상을 활용하거나 활용 당하고 있는 현실이다. 또한 의인화 현상은 특정 학문분야가 아닌 거의 모든 문화·예술 전반에 걸쳐 적용 사례를 찾아볼 수 있다. 따라서 본 논문에서는 문화·예술 전반에서 관찰되는 의인화 기반의 사례와 선행연구의 결과를 토대로 의인화를 관계 형성구도를 중심으로 재정의 하였다. 또한 의인화 기법에 대한 선행연구에서 도출된 의인화 유형 및 제스처 목록을 기준으로 의인화 형태를 관계형성의 주체에 따라 의인화와 역 의인화, 두 부류로 규정하고 각각의 다른 물리적인 형질을 기준으로 화훼 및 공간장식을 포함한 디자인 영역에 걸쳐 소구되는 의인화 기법의 적용사례를 통해 효과적인 의인화 적용 체계를 정의 하였다. 의인화 관계형성 구도와 의인화 적용 체계의 정의를 통해 다양한 매체에서 효과적인 수용자 만족도를 이끌어 낼 수 있는 의인화 기법의 틀을 제공하였다. 또한 매체가 가진 본질의 개념적 형질의 특성을 제스처 목록과 의인화 유형분류에 동기화하는 의인화 적용체계를 통해 강력하고 효과적인 의인화 기법으로 향유자와 소통할 수 있는 장치가 마련될 수 있음을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2022-2026
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• 2003

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.82-87
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• 1994

In this study, dynamic optimal design far a two degree-of-freedom anthropomorphic robot module is performed. Several dynamic design indices associated with the inertia matrix and the inertia power array are introduced. Analysis for the relationship between the dynamic parameters and the design indices shows that trade-offs exist between the isotropy and the dynamic design indices related to the actuator size. A composite design index is employed to deal with multi-criteria based design with different weighting factors, in a systematic manner. We demonstrate the fact that dynamic optimization is another significant step to enhance the system performances, followed by kinematic optimization.

• 대한기계학회논문집A
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• 제30권4호
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• pp.357-363
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• 2006

According to the study of grasping of the human hand, it is noted that the metacarpal link of the thumb plays the key role in power grasping. Also the face of fingertip can be discriminated into five parts depending on the grasping modalities such as pinch grasp, fingertip grasp and power grasp. In this paper, the design of the anthropomorphic robot hand which has a thumb and three fingers is proposed. A difference of SKKU hand II from the previous gripperlike robot hand is that the metacarpal bone is connected between the thumb and the palm. This thumb mechanism is specially designed to get the degree of freedom which can realize flexible motions relative to objects. Based on the analysis, the hand mechanism is developed. Since the driving circuits for the hand are embedded in the hand, only the communication lines supporting CAN protocol with DC power cable are necessary as the input. A new robot is manufactured and feasibility of the hand is validated through preliminary experiments.

• 제어로봇시스템학회논문지
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• 제20권9호
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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.

• 한국의류학회지
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• 제43권6호
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• pp.795-807
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• 2019

This qualitative study delves into consumers' meanings, perceptions, and behaviors toward the anthropomorphism of fashion goods based on personal experiences. Previous studies focused on consumer responses to the marketer-driven anthropomorphism of products, messages, and brands; however, the present study examines consumers' spontaneous anthropomorphism focusing on personal meanings as a possessor and meanings in their social relationships. A qualitative methodology is adopted that involves in-depth interviews with eleven males and females in their 20s and 30s. Participants stated that were engaged in the anthropomorphic practice of fashion goods on a daily basis. Data analysis was based on grounded theory. Findings on consumer-driven anthropomorphism are discussed at personal and interpersonal levels. At the personal level, anthropomorphic objects are their companions that are often called "baby." Interestingly, anthropomorphism reduces the stigmas of materialism from the participants' side. At the interpersonal level, anthropomorphic practice is a ritual of sharing a common interest and assuring intimacy. Implications and suggestions for future research are also discussed.

• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.594-599
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• 2006

In this paper an anthropomorphic robot hand called SKKU Hand IIl is presented, which has a miniaturized fingertip tactile sensor. The thumb is designed as one part of the palm and multiplies the mobility of the palm. The fingertip tactile sensor, based on polyvinylidene fluoride (PVDF) and pressure variable resistor ink, is physically flexible enough to be deformed into any three-dimensional geometry. In order to detect incipient slip, a PVDF strip is arranged along the direction normal to the surface of the finger of the robot hand. Also, a thin flexible sensor to sense the static force as well as the contact location is fabricated into an arrayed type using pressure variable resistor ink. The driving circuits and the tactile sensing systems for the SKKU Hand II are embedded in the hand. Each driving circuit communicates with others using CAN protocol. SKKU Hand II is manufactured and its feasibility is validated through preliminary experiments.

• 로봇학회논문지
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• 제5권2호
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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.

• 한국콘텐츠학회논문지
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• 제22권2호
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• pp.358-369
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• 2022

이 연구의 목적은 스마트폰을 통해 외국어(영어)를 학습하는데 있어 사용자 경험을 제고할 수 있는 학습 에이전트의 의인화 설계 요인을 검증하는 것이다. 이 연구에서는 콘텐츠를 전달하는 학습용 에이전트를 설계할 때 학습 촉진, 신뢰, 매력 인식에 영향을 미치는 의인화 요인 중 에이전트의 체화 유무, 인간적 본성(HN)의 부여 정도, 역할 설정(지도자 vs. 동반자) 효과를 실험 연구로 검증하였다. 실험결과 HN은 단독으로는 학습 촉진 효과가 나타나지 않았으며, 이미지와 역할은 학습 촉진 효과뿐 아니라 다른 사용자 경험 요인도 향상시켰다. HN요인은 이미지와 역할 요인과 결합되어 설계될 때, 학습 촉진 및 신뢰성, 매력성과 같은 전반적인 사용자 경험 효과에서 효과가 나타났다.