• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.107-114
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• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.125-126
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• 1998

Pulse conduction velocity is determined by areterial compliance, which is changed by lateral pressure of arterial wall. Hydrostatic pressure of the limb vessel is changed by body position, especially in elevated arm. The arterial pulse in the finger causes the blood volume to change, changing the optical density of the blood. Photoplethysmograph of index finger was obtained by LED and phototransistor. Pulse transmission time(PTT) was measured by the interval between the peak of ECG R wave and the peak of the finger plethysmogram. PTT was increased by upward position of arm, and decreased by downward position of the arm compared to horizontal position. This result suggests that relationship between finger plethysmography and postural change could be applied to evaluate clinical cardiovascular status.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.2
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• pp.48-59
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• 1992

In this paper, the effects of a skirt deformation on the responses of an Air Cushion Vehicle in waves are investigated. The air in the bag and in the plenum chamber is assumed to be compressible and to have a uniform instantaneous pressure distribution in each volume. The free surface deformation is determined in the framework of linear potential theory by replacing the cushion pressure with the pressure patch moving uniformly with an oscillating strength. And the bag-finger skirt is assumed to be deformed due to the pressure disturbance while its surface area remained constant. The restoring force and moment due to the deformation of bag-finger skirt from the equilibrium shape is included in the equations of hearse and pitch motions. The numerical results of motion responses due to various ratios of the bag and cushion pressure or bag-to-finger depth ratios are shown.

• Tribology and Lubricants
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• v.28 no.5
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• pp.240-245
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• 2012

In this study, we developed a new carrier finger to prevent scratches in a sheet metal forming line. The developed carrier finger was designed to have a streamlined shape with a larger radius of curvature at the edges, as well as a smaller contact area. To evaluate the scratch alleviation effect, a sliding contact analysis and scratch test using the pin on a plate wear tester were conducted for both the old and new carrier fingers. The results show that, for both transverse and longitudinal movements of the strip, the newly designed carrier finger reduces both the friction and scratch depth by its streamlined shape, which decreases the pressure spike at the edge.

• Journal of Sensor Science and Technology
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• v.15 no.2
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• pp.106-111
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• 2006

Pulse sensors generally have characteristics that cause a analytical error by the interference of signals according to tiny motion of body and pressure applied to skin. To resolve this problem, we implemented the sensor that is capable of simultaneously measuring pressure and PPG(photoplethymogram) in a state attached to skin. Pressure and PPG was recorded at the finger and wrist respectively to evaluate the usefulness of the implemented sensor. Then, it was observed that the shape of PPG from sensor changed by pressure pushing down skin. Results of this study suggested that it is possible to monitor a degree of skin pressurization and to guarantee a reliable measurement by simultaneously measuring pressure and PPG using implemented integrated sensor when measuring PPG on the wrist or the finger.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.612-617
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• 2000

This paper describes the experience gained from the treatments for prevention of blade failure occurred in the low-pressure turbine. Some cracks due to high cycle fatigue were found at the blades in low-pressure turbines after long time operation. Such failure was mainly caused by the resonance of the blade with the vane passing frequency excitation. If a natural frequency of the blade exists near the excitation frequency, a resonant vibration can occur and leads to a large amount of stress which may cause fatigue failures in turbine blades. To avoid the resonance of the blade, some modifications have been performed and full-scaled mockup testing has been done to confirm the verification for modification. Test result shows that enlarging the span cover is very useful to change the natural frequency of the grouped blades effectively.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.2
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• pp.379-386
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• 2023

When patients suffer from finger injuries, their finger joints can become stiff and inflexible due to decreased ability to exercise the finger tendons. This can lead to a loss of strength and difficulty using their hands. To address this, it is important to provide patients with consistent rehabilitation treatment that can help restore finger flexibility and strength simultaneously. In this study, we propose wearable gloves that use FSRs (force sensitive resistors) for finger strength training. The glove is designed to be adjustable using rubber bands and a custom PCB is designed for signal acquisition. For the evaluation of finger strength training, the result was analyzed in four cases. We suggest a vector that represents the center of five finger forces, and the result shows that the vector can indicate the level of force balance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.1
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• pp.1-10
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• 2004

This paper presents a navigation garde capacitive microaccelerometer, whose low-noise high-resolution detection capability is achieved by a new electrode design based on a high-amplitude anti-phase sense voltage. We reduce the mechanical noise of the microaccelerometer to the level of 5.5$\mu\textrm{g}$/(equation omitted) by increasing the proof-mass based on deep RIE process of an SOI wafer. We reduce the electrical noise as low as 0.6$\mu\textrm{g}$/(equation omitted) by using an anti-phase high-amplitude square-wave sense voltage of 19V. The nonlinearity problem caused by the high-amplitude sense voltage is solved by a new electrode design of branched finger type. Combined use of the branched finger electrode and high-amplitude sense voltage generates self force-balancing effects, resulting in an 140％ increase of the bandwidth from 726㎐ to 1,734㎐. For a fixed sense voltage of 10V, the total noise is measured as 2.6$\mu\textrm{g}$/(equation omitted) at the air pressure of 3.9torr, which is the 51％ of the total noise of 5.1$\mu\textrm{g}$/(equation omitted) at the atmospheric pressure. From the excitation test using 1g, 10㎐ sinusoidal acceleration, the signal-to-noise ratio of the fabricated microaccelerometer is measured as 105㏈, which is equivalent to the noise level of 5.7$\mu\textrm{g}$/(equation omitted). The sensitivity and linearity of the branched finger capacitive microaccelerometer are measured as 0.638V/g and 0.044％, respectively.

• Journal of Biomedical Engineering Research
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• v.28 no.6
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• pp.777-785
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• 2007

In this paper, Finger-Toe Index (FTI) is proposed as an analytic parameter for the characterization of arterial vessel. Different from the currently being employed pulse wave velocity (PWV) information of the volume pulse wave measured from 4 arterial channels, the proposed FTI uses the ratio of the shorter of the two up-stroke time of PPG from fingers ($UT_{finger}$) and that of PPG (Photoplethysmography) from toes ($UT_{toe}$). To verify the usefulness of the proposed method, Finger-Toe Indexes were derived from the volume pulse waves acquired from 50 people under examination aged from 12 to 81 years old, and they were then compared with blood pressure ankle-brachial index (ABI). It was successfully demonstrated that the arterial stiffness can be estimated with respect to age and FTI is more strongly correlated with the pulse transit time than ABI. From the regression analysis, we also found that FTI has significant correlation PWV for a quantitative index of arterial stiffness and provides more accurate information than ABI for the characterization of arterial vessel.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.