• 제목/요약/키워드: Arm training

검색결과 157건 처리시간 0.03초

현실 세계에서의 로봇 파지 작업을 위한 정책/가치 심층 강화학습 플랫폼 개발 (Development of an Actor-Critic Deep Reinforcement Learning Platform for Robotic Grasping in Real World)

  • 김태원;박예성;김종복;박영빈;서일홍
    • 로봇학회논문지
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    • 제15권2호
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    • pp.197-204
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    • 2020
  • In this paper, we present a learning platform for robotic grasping in real world, in which actor-critic deep reinforcement learning is employed to directly learn the grasping skill from raw image pixels and rarely observed rewards. This is a challenging task because existing algorithms based on deep reinforcement learning require an extensive number of training data or massive computational cost so that they cannot be affordable in real world settings. To address this problems, the proposed learning platform basically consists of two training phases; a learning phase in simulator and subsequent learning in real world. Here, main processing blocks in the platform are extraction of latent vector based on state representation learning and disentanglement of a raw image, generation of adapted synthetic image using generative adversarial networks, and object detection and arm segmentation for the disentanglement. We demonstrate the effectiveness of this approach in a real environment.

체간안정화운동이 저나트륨혈증 환자에게 발생한 삼투성 탈수초 증후군에서 체간조절능력과 일상생활동작에 미치는 영향(단일사례연구) (The Effect of Trunk Stability Exercises on Trunk Control Ability and Daily Living Activities on the Osmotic Demyelination Syndrome of a Patient with Hyponatremia -A Case Study-)

  • 정두교
    • PNF and Movement
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    • 제12권4호
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    • pp.249-258
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    • 2014
  • Purpose: This study examines deficits in upper-extremity function and trunk control ability on the osmotic demyelination syndrome of a patient with Hyponatremia and Hypokalemia. Using a proprioceptive neuromuscular facilitation program, this case report aims to describe the effects of trunk stability exercises on trunk control ability, hand function, and daily living activities as well as its effects on the osmotic demyelination syndrome of a patient with Hyponatremia and Hypokalemia. Methods: The patient is a 47-year-old woman with osmotic demyelination syndrome as well as trunk and upper extremity impairment. She participated in this training intervention for four weeks. Results: The patient demonstrated improvements in trunk control ability, hand function, and performance of ADL. The following outcomes were measured before and after the training program: trunk impairment scale, hand power, Jebsen-Taylor hand function test, the Chedoke arm and hand inventory, and the modified Barthel index. Conclusion: The results suggest that trunk stability exercises in the form of a proprioceptive neuromuscular facilitation program in Hyponatremia and Hypokalemia patients may increase trunk control ability, increase hand function, and improve ADL.

정신지체아의 운동교육 Program 적용효과 (The Effects of Exercise Education Programs in Mentally-Handicapped Children)

  • 김상수;전제균
    • The Journal of Korean Physical Therapy
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    • 제6권1호
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    • pp.23-35
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    • 1994
  • In this research, the mentally-handicapped children being able to be trained were investigated the actual condition of train function making 40 mentally-handicapped children in Kummi Hyedang Spacial Education School, to exmine the effect of physical exercise function when training the mentally-handicapped children who can be trained as applying exercise education programs, and trains for 10 weeks by assigning to both experiment group and control group according to children who are similar to training functions from pre-examination. The results are in following: First, the results of test in the exercise ability of mentally-handicapped children with the degree of being able to trained are very delayed in comparison with normal mental children through the both top and bottom examination. The developments of 5 exercise functions classified by domain, have the order of eyesight exercise, softness, physical strength, quickness, parallelism, the interaction of both eye and hand, and, have the exercise function being equal to the level of between 6 and 12 years old. In 13 bottom test, throwing bean-bag is equal to the nomal 12 years old boy. the board jump, sitting position / bending forward / closing are equal to the level of 12 years old boy. standing with only leg is the level of 9 years old, threading pearls is 7 years old, transfering the wood building, picking the upper body up, walking board, balancing one leg with opened, eye, fist / opening palm / palm, bending and opening arm with postrating on chair, are the exercise functions of below 6 years old. Second, there are great effects in carrying out the exercise education program to the mentally-handicapped children with the level of being able to trained. In experiment group, it is elevated to the middle level of 12 years old nomal children. Classified by domain of test the board jump, training, the bean-bag are far higher level than 12 years old normal children, and are elevated the level of 11 years old boy. Balancing only leg with closed eye is below the level of 10 years old boys, fist / opening palm / palm are the level of 9 years old boys. There and back running, picking the upper body is the level of 9 years old girls. Walking board is the level of 8 years old boys. Bending and opening arm with postrating on chair is the level of 7 rears old boy. Balancing one leg with opened eye is elevated to the level of f years old girls. These functions have the more balanced exercise function rather than pre-examination. In control group, they have little change by classified the bottom test, but have the exercise function on the time of pre-examination, go backward in physical strength. quickness. Third, the exercise function being learned by exercise education program on the mentally-handicapped children of the level with being able to train is appeared to maintain continuately. Softness, physical strength, quickness, eyesight training are maintained the learned exercise function, the interaction of both eye and hands, parallelism are delayed a little. Classified by the bottom test. threading pearls, transfering the wood building, throwing the bean-bag, sitting position / rolling forward / reaching, the broad jump and picking upper body up, there and bark running, picking upper body up, balancing with only leg as opened eye, bending and opening arm with postrating on chair, etc. are maintained. Fist / opening palm / palm, balancing with only leg as opened eye are delayed a little. The change of body position is elevated. Seeing these results, it is appeared to the mentally-handicapped children that the exercise education programs, which is suitable their actual condition and acomplishes in voluntary participation, have very positive effect. So, to develop the function of body exercise in mentally-handicapped children with the level of being to able to be trained, the measures must be groped so that the exercise education programs can be practiced positively, and the ,body exercise can be experienced more.

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밸런스 핸들 장치를 이용한 상지 운동 기능의 근전도 신호 분석 (EMG Signal Analysis of Upper Extremity Motor Function using Balance-handle Device)

  • 이충근;송기호;안재용;신성욱;정성택
    • 재활복지공학회논문지
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    • 제10권4호
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    • pp.295-303
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    • 2016
  • 편마비 환자의 상지 운동 기능 재활 치료에 대한 지속적인 관심과 훈련의 정량적인 평가를 위한 다양한 장치가 요구되고 있다. 이러한 문제를 해결하기 위해서 본 논문에서는 거치대와 핸들, 밸런스 볼을 결합한 밸런스 핸들 장치를 개발하였다. 피험자 7명을 대상으로, 개발된 상지 훈련 장치를 기울일 때 주요 상지 근육에 대한 근전도 신호의 변화를 측정하여 재활 훈련 장치로 사용이 가능한지에 대한 유효성을 검토하였다. 밸런스 핸들 장치를 앞뒤로 기울였을 때의 상지 신전 굴곡 운동 동작과 좌우 기울임을 이용한 상지 운동 동작에서 근 수축과 이완이 기준이 되는 주동근과 길항근에서 근 활성화 신호를 분석하였다. 실험결과, Fugl-Meyer Assessment(FMA)의 신전 굴곡 운동 평가 항목에서 편마비 환자의 상지 운동 기능 평가에 이용되는 이두근, 삼두근, 삼각근에서 근 활성화 경향을 보였다. 이러한 결과를 바탕으로 개발된 장치를 활용하여 편마비 환자의 상지 재활 훈련에 도움이 될 수 있다고 볼 수 있다.

웨어러블 조작기 기반 재난·재해 특수 목적기계 다관절 작업기의 가상 환경 작업시스템 구현 (Implementation of Virtual Environment System for Multi-joint Manipulator Designed for Special Purpose Equipment with Wearable Joystick used in Disaster Response)

  • 차영택;이연호;최성준
    • 드라이브 ㆍ 컨트롤
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    • 제17권3호
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    • pp.33-46
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    • 2020
  • We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

국소 진동 자극과 양쪽 팔 훈련의 융합 중재가 뇌졸중 환자의 팔 기능 회복에 미치는 효과 (The Effect of Convergence Intervention of Focal Vibration Stimulation and Bilateral Upper Extremity Training on Recovery of Upper Limb Function in Stroke Patients)

  • 김선호
    • 한국융합학회논문지
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    • 제12권2호
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    • pp.95-101
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    • 2021
  • 본 연구의 목적은 국소 진동 자극과 양측성 팔 훈련의 융합 중재를 뇌졸중 환자에게 적용했을 때, 팔 기능 개선에 미치는 영향을 알아보는 것이다. 20명의 뇌졸중 환자를 국소 진동 자극과 양측성 팔 훈련의 융합 중재를 실시한 실험군과 양측성 팔 훈련만 실시한 대조군으로 나누어, 회기 당 30분씩 4주간, 총 20회 실시하였다. 진동자극은 실험군의 손상측 팔에 훈련이 이루어지는 30분간 적용되었다. 평가는 손상 측 팔의 회복정도와 양측 팔 의 사용량, 양손 사용의 수행의 질과 만족도를 측정하였으며, 대응표본 t-검정을 사용하여 그룹 내, 공분산 분석을 사용하여 그룹 간 비교를 하였다. 연구 결과, 실험군은 대조군보다 손상 측 팔의 기민성과 손상 측의 사용량에서 유의한 차이의 변화를 보였다. 효과 크기는 모든 항목에서 작은 효과 크기 이상의 차이를 보였다. 본 연구를 통해, 국소 진동 자극과 양측성 팔 훈련의 융합 중재가 뇌졸중 환자의 팔 기능 회복을 위한 효율적 중재로써 임상에서 사용 될 수 있을 것으로 생각된다.

로보트 매니퓰레이터의 동력학적 신경제어 구조 (Dynamic Neurocontrol Architecture of Robot Manipulators)

  • 문영주;오세영
    • 전자공학회논문지B
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    • 제29B권8호
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    • pp.15-23
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    • 1992
  • Neural network control has many innovative potentials for fast, accurate and intelligent adaptive control. In this paper, two kinds of neurocontrol architectures for the dynamic control of robot manipulators are developed. One is based on a System Identification and Control scheme and the other is based on the Feedback-Error leaming scheme. Both of the proposed architectures use an inverse dynamic neurocontroller in parallel with a linear neurocontroller. The difference is that the first architecture uses the system identifier to get the signals used for training neurocontrollers, while the second architecture uses a properly defined energy function. Compared with the previous types of neurocontrollers which are using an inverse dynamic neurocontroller and a fixed PD gain controller, the proposed architectures not only eliminate the painful process of the fixed gain tuning but also exhibit superior peformances because the linear neurocontroller can adapt its gains according to the applied task. This superior performance is tested and verified through computer simulation of the dynamic control of the PUMA 560 arm.

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실습 자동화 생산 시스템 설계특성에 대한 연구 (Study of Design Characteristics of Flexible Manufacturing System for Practical Training)

  • 조장현
    • 한국정밀공학회지
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    • 제22권9호
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    • pp.93-98
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    • 2005
  • The purposes of this paper are the review and derivation of design characteristics for the new construction of the practical flexible manufacturing system. The basic ideas to analyze the manufacturing system which is the automatically operated are dependant on the various manufacturing procedures in factory. The practical flexible manufacturing systems have various mechanical subsystems appropriated fur the final manufacturing products. Therefore the systems have the various kinds of hardwares as well as softwares. We study the software for the practical flexible manufacturing system designed and developed in the Halla University with the related company. Specially the design concepts and using specifications of all subsystems which are composed of mechanical and electronic movements of the product are analyzed and introduced in this dissertation.

신경회로를 이용한 6축 로보트의 역동력학적 토크 제어 (An inverse dynamic torque control of a six-jointed robot arm using neural networks)

  • 조문증;오세영
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.1-6
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    • 1990
  • Neural network is a computational model of ft biological nervous system developed ID exploit its intelligence and parallelism. Applying neural networks so robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 am shows that it can move a high speed as well as adapt to unforseen load changes and sensor noise. The results are compared with the conventional PD control scheme.

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신경망을 이용한 지문인식 임베디드 시스템 설계에 관한 연구 (Study on Design of Fingerprint Recognition Embedded System using Neural Network)

  • 이재현;김동한
    • 한국정보통신학회논문지
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    • 제10권4호
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    • pp.775-782
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    • 2006
  • 지문인식 알고리즘에서 전처리 과정 중 방향성이 추출된 지문에서 블록을 형성하여 각 블록에서의 방향성 특징들을 신경회로망의 입력패턴으로 사용하여 학습을 시켜, 특이점을 추출하여 매칭에 이용했다. 이를 바탕으로 지문인식 임베디드 시스템을 설계하여 다양한 응용 시스템에 이용될 수 있도록 하기 위해 컨트롤 보드와 시리얼 통신을 통해 테스트한 결과 충분한 신뢰성을 입증할 수 있었다.