• Journal of Korean Clinical Health Science
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• v.4 no.3
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• pp.622-633
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• 2016

Purpose. The purpose of this study was compared of left dominant and the right dominant hands about coordination. Methods. The participants were 30 occupational therapy students in M university in Changwon, from April 28th 2015 to May 1. The test tools were Jebson-Taylor Hand Function Test, Hand Strength & Pinch, Grooved Pegboard Test, Box & Block and Balance Test. Results. Right dominant hand was higher than left dominant in hand grip and dexterity, hand manipulation skills. And one leg standing and toe standing were higher left foot than right foot dominant. Conclusion. Most of all evaluation items showed a better result right dominant hand than left dominant. But shows that there is no functional difference between left-hand dominant than right-hand. So left-hand dominant coordination was evaluated by a better than right-handed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1693-1696
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• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.3
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Proceedings of the KSR Conference
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• 2001.10a
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• pp.488-493
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• 2001

CWR technology is generally believed to contribute to the increase of train speed and bring a variety of significant advantages, such as the decrease in track works, noise and vibration as well as the improvement of passenger comfort. In CWR technology, welding is considered to be one of the most important element technologies. Among the various welding methods, thermit welding is the most frequently used one for site welding since the operation is simple and the instruments are light as well as easy to deal with. However, it could cause interference with safety operation of trains since thermit welding points, are essentially made of castings and there are potentialities of defects according to the operation conditions, the environment of the site as well as the dexterity of the worker. This study tries to describe the characteristics of thermit welding, defect-causing factors and defect-detection methods at welding points.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.508-513
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• 1990

오늘날, 생산성 증대와 품질 향상을 목적으로 산업용 로봇의 사용이 증대되면서 다양한 생산현장에서의 유연성과 적응성이 크게 요구되고 있는 실정이다. 그러나, 현재의 산업용 로봇은 end-effector의 dexterity의 부족으로 그 사용에 제한을 받고 있다. 이를 해결하기 위해 다지(multi-fingered), 다관절(articulated) 로봇손(robotic hands)의 도입이 필요하게 되었는데 이는 전체 로봇시스템의 능력과 유연성을 증가시킬 수 있을 것이다. 현재의 Flexible Manufacturing Workcell은 보통 한 대의 로봇팔과 많은 특수 용도의 고가의 tool로 구성되어 있으나 일반적인 모든 작업에 제한없이 모두 적용하기는 매우 어렵다. 그러므로, 다지, 다관절 로봇손의 개발 및 그 지능 제어의 실현은 작업에 따르는 불필요한 tool의 교환을 방지하여 비용과 시간을 절약함으로써 생산성을 극대화시킬 수 있다. 따라서, 본 연구에서는 Flexible Automation을 위한 다지, 다관절 로봇손의 설계 및 제작에 관한 방법을 제시하고자 한다.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.93-95
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• 2006

In many control system applications, the system designed must not only satisfy the damping and accuracy specifications, but the control must also yield performance that is robust to external disturbance and parameter variations. We have shown that feedback in conventional control systems has the inherent ability of reducing the effects of external disturbance and parameter variations. Unfortunately, robustness with the conventional feedback configuration is achieved only with a high loop gain, which is normally detrimental to stability. The design of intelligent, autonomous machines to perform tasks that are dull, repetitive, hazardous, or that require skill, strength, or dexterity beyond the capability of humans is the ultimate goal of robotics research. This paper prove the robust control using Analog Adaptive Resonance Theorv(ART2) Algorithm about case study.

• Fashion & Textile Research Journal
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• v.3 no.2
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• pp.124-130
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• 2001

It is said that the highlights of Naadam festival, the biggest festival of the year in Mongolia, are three athletic contests: wrestling, horse racing, and archery, where contestants display their courage, strength, dexterity, and marksmanship. This paper explores the characteristics of the uniforms worn in such athletic events The findings are as follows. First, wrestlers' costume is completely unique in that it consists of shuudag, snug shorts, zodog, a jacket with sleeves but with no front, a traditional hat, and gutul, traditional boots. The main material used in the costume is several pieces of embroidered red or blue silk. Second, horse riders, usually young children lighter than the adults in weight, wear a bright, colorful, and comfortable uniform of a simple jacket and a pants. Third, archers' mostly put on their traditional costume, deel and hats. The hats are of two kinds: the traditional ones or the European-style ones for men, which were introduced around 1930s.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.231-240
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• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.