• 한국정밀공학회지
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• 제28권6호
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• pp.663-669
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• 2011

This paper examines methods to estimate torque and angle in shoulder flexion from surface electromyography(sEMG) signals for intuitive and delicate control of robotic assistance device. Five muscles on the upper arm, three for shoulder flexion and two for shoulder extension, were used to offer favorable sEMG recording conditions in the estimation. The methods tested were the mean absolute value (MAV) with linear regression and the artificial neural network (ANN) method. An optimal condition was sought by varying combination of muscles used and the parameters in each method. The estimation performance was evaluated using the correlation values and normalized root mean square error values. In addition, we discussed their possible use as an estimation of motion intent of a user or as a command input in a physical human-machine interaction system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.769-771
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• 2000

In this paper, pattern recognition scheme for EMG signal using artificial neural network is proposed. For manipulating ability, the movements of human arm are classified into several categories EMG signals of appropriate muscles are collected during arm movement. Patterns of EMG signals of each movement are recognized as follows: 1) The features of each EMG signal are extracted. 2) With these features, the neural network is trained by using feedforward error back-propagation (FFEBP) algorithm. The results show that the arm movements can be classified with EMG signals at high accuracy.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.991-999
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• 2004

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of polymers, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven types of actuator modules such as eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, anger, disgust, sadness, and happiness. Each module communicates with the others via CAN communication protocol fur the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.919-926
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• 2010

This paper proposes a wearable hand rehabilitation device, DULEX, for persons with functional paralysis of upper-limbs after stoke. DULEX has three degrees of freedom for rehabilitation exercises for wrist and fingers except the thumb. The main function of DULEX is to extend the range of motions of finger and wrist being contracture. DULEX is designed by using a parallel mechanism, and its parameters such as length and location of links are determined by kinematic analysis. The motion trajectory of the designed DULEX is aligned to human hand to prevent a slip. To reduce total weight of DULEX, artificial air muscles are used for actuating each joint motion. In feedback control, each joint angle is indirectly estimated from the relations of the input air pressure and the output muscle length. Experimental results show that DULEX is feasible in hand rehabilitation for stroke survivals.

• Smart Structures and Systems
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• 제7권3호
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• pp.185-198
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• 2011

The promise of biomimetic smart structures that can function as sensors and actuators in biomedicine is enormous. Technological development in the field of stimuli-responsive shape memory polymers have opened up a new avenue of applications for polymer-based synthetic actuators. Such synthetic actuators mimic various attributes of living organisms including responsiveness to stimuli, shape memory, selectivity, motility, and organization. This article briefly reviews various stimuli-responsive shape memory polymers and their application as bioactuators. Although the technological advancements have prototyped the potential applications of these smart materials, their widespread commercialization depends on many factors such as sensitivity, versatility, moldability, robustness, and cost.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.727-730
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• 2005

Cellulose based Electro-Active Papers (EAPap) is very promising material due to its merits in terms of large bending deformation, low actuation voltage, ultra-lightweight, and biodegradability. These advantages make it possible to utilize applications, such as artificial muscles and achieving flapping wings, micro-insect robots and smart wall papers. This paper investigates the in-plane strains of EAPap under electric fields, which are useful for a contractile actuator application The preparation of EAPap samples and the in-plane strain measurement system are explained, and the test results are shown in terms of electric field, frequency and the oriental ions of the samples. The power consumption and the strain energy of EAPap samples are discussed. Although there are still unknown facts in EAPap material, this in-plane strain may be useful for artificial muscle applications.

• 대한치과보철학회지
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• 제36권2호
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• pp.389-423
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• 1998

This investigation was designed to determine the effectiveness of the posterior occlusal schemes on masticatory activity during mastication in complete denture. Twelve edentulous subjects were selected for this study. All subjects had no past history and no functional abnormality on masticatory system and TMjoint. And, they had residual ridge of favorable morphology, firm mucosa and Class I skeletal jaw relationship, Twelve experimental denture with interchangeable occlusions(0-degree teeth, 30-degree teeth, Levin teeth and S-A teeth) were constructed for this study. The masticatory performance was analyzed by means of standard sieve(10, 16, 20, 30sieve), and the electrical activity from selected muscles(Temporalis and Masseter muscle) was recorded simultaneously with electromyography (Bio-Pak system) as the subject masticated test foods (rice, peanut and gum) with four different occlusal schemes. Mandibular movement was, also, measured with Sirognathography(Bio-Pak system). These recordings were performed in immediately, after 1 week and after 2 weeks of insertion of complete denture. The results were as fellows; 1. The average masticatory performance of 0-degree artificial teeth was higher than any other artificial teeth. 2. Masticatory performance in denture wearer was affected preferentially by food and artificial occlusal schemes. 3. During chewing, there was a statistical difference of EMG activity between masseter and temporal muscle(p<0.01). Especially, EMG activity of working masticatory muscle was highly affected by food rather than by artificial occlusal schemes. 4. In denture wearer, the velocity of opening was not affected by food, whereas, the velocity of closing was faster in soft food chewing than in hard food chewing, and the amount of vertical displacement was grater in chewing of soft and large bolus than in chewing of hard and small bolus. However, the amount of lateral displacement showed conversely(p<0.05). 5. It was considered that masticatory performance in denture wearer is not affected by the condition of residual ridge. the history of denture wear, the preference, the adaptation to artificial teeth and the total mesiodistal length of artificial posterior teeth.

• 대한치과보철학회지
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• 제34권3호
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• pp.539-573
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• 1996

This investigation was designed to determine the effectiveness of the posterior occlusal schemes on masticatory activity during mastication in complete denture. Twelve edentulous subjects were selected for this study. All subjects had no past history and no functional abnormality on masticatory system and TMjoint. And, they had residual ridge of favorable morphology, firm mucosa and Class I skeletal jaw relationship, Twelve experimental denture with interchangeable occlusions(0-degree teeth, 30-degree teeth, Levin teeth and S-A teeth) were constructed for this study. The masticatory performance was analyzed by means of standard sieve(10, 16, 20, 30sieve), and the electrical activity from selected muscles(Temporalis and Masseter muscle) was recorded simultaneously with electromyography(Bio-Pak system) as the subject masticated test foods (rice, peanut and gum) with four different occlusal schemes. Mandibular movement was, also, measured with Sirognathography(Bio-Pak system). These recordings were performed in immediately, after 1 week and after 2 weeks of insertion of complete denture. The results were as follows; 1. The average masticatory performance of 0-degree artificial teeth was higher than any other artificial teeth. 2. Masticatory performance in denture wearer was affected preferentially by food and artificial occlusal schemes. 3. During chewing, there was a statistical difference of EMG activity between masseter and temporal muscle(p<0.01). Especially, EMG activity of working masticatory muscle was highly affected by food rather than by artificial occlusal schemes. 4. In denture wearer, the velocity of opening was not affected by food, whereas, the velocity of closing was faster in soft food chewing than in hard food chewing, and the amount of vertical displacement was grater in chewing of soft and large bolus than in chewing of hard and small bolus. However, the amount of lateral displacement showed conversely (p<0.05). 5. It was considered that masticatory performance in denture wearer is not affected by the condition of residual ridge, the history of denture wear, the preference, the adaptation to artificial teeth and the total mesiodistal length of artificial posterior teeth.

• 한국정밀공학회지
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• 제26권8호
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• pp.132-141
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• 2009

In this paper, we describe finger force estimation from surface electromyogram (sEMG) data for intuitive and delicate force control of robotic devices such as exoskeletons and robotic prostheses. Four myoelectric sites on the skin were found to offer favorable sEMG recording conditions. An artificial neural network (ANN) was implemented to map the sEMG to the force, and its structure was optimized to avoid both under- and over-fitting problems. The resulting network was tested using recorded sEMG signals from the selected myoelectric sites of three subjects in real-time. In addition, we discussed performance of force estimation results related to the length of the muscles. This work may prove useful in relaying natural and delicate commands to artificial devices that may be attached to the human body or deployed remotely.

• Journal of Mechanical Science and Technology
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• 제19권2호
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• pp.578-588
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• 2005

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of dielectric elastomer, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven actuator modules such eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. In the robot, each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.