• Transactions on Control, Automation and Systems Engineering
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• v.3 no.1
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• pp.66-70
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• 2001

This paper describes the design of a two-axis force sensor for robots finger. In detects the x-direction force Fx and y-direction force Fy simultaneously. In order to safely grasp an unknown object using the robots fingers, they should detect the force or gripping direction and the force of gravity direction, and perform the force control using the forces detected. Therefore, the robots hand should be made by the robots finger with tow-axis force sensor that can detect the x-direction force and y-direction force si-multaneously. Thus, in this paper, the two-axis force sensor for robots finger is designed using several parallel-plate beams. The equations to calculate the strain of the beams according to the force in order to design the sensing element of the force sensor are derived and these equations are used to design the aize of two-axis force sensor sensing element. The reliability of the derive equa-tions is verified buy performing a finite element analysis of the sensing element. The strain obtained through this process is compared to that obtained through the theory analysis and a characteristics test of the fabricated sensor. It reveals that the rated strains calculated from the derive equations make a good agreement with the results from the Finite Element Method analysis and from the character-istic test.

• Journal of the Ergonomics Society of Korea
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• v.32 no.6
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• pp.503-509
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• 2013

Objective: The purpose of this study is to analyze the individual finger force between dominant hand and non-dominant hand and to investigate an effect of the individual finger on the total grip strength depending on dominant hand and non-dominant hand. Background: Many studies on the ratio of the grip force between dominant hand and non-dominant hand has been researched. While a 10% rule which is a ratio of the grip force between dominant hand and non-dominant hand has been applied in most studies, studies on the rate of the individual finger force between dominant hand and non-dominant hand have been insufficiently researched. Method: The experiment was preceded with 17 subjects (male, mean 25.8 ages). The individual finger force and total grip strength were measured using pliers being able to change the grip span from 45 to 80mm. Results: The difference of total grip strength between dominant hand and non-dominant hand is following 10% rule. However, the difference of individual finger force between dominant hand and non-dominant hand are not same as the difference of total grip strength. Especially in the case of grip span with 50mm, the differences between total grip strength, index finger, middle finger, ring finger, and little finger were $9.87{\pm}14.80%$, $8.95{\pm}37.17%$, $13.71{\pm}28.27%$, $6.77{\pm}24.35%$, $39.29{\pm}42.46%$, respectively, with p=0.018 of statistical significance. Additionally, the results of regression analysis in 50 and 60mm of grip span showed that the difference in ring finger affected the most to the total grip strength; and the effects followed in order of index finger, middle finger, and little finger. Conclusion: Our study suggests that an effect of individual finger and grip span of pliers have to be considered when explaining the difference of the total grip strength between dominant hand and non-dominant hand. Application: This result is expected to be used for designing ergonomic hand tool.

• Journal of KSNVE
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• v.6 no.5
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• pp.555-565
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• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.94-103
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• 1996

This paper is concerned with the theroretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is uniform flexible cantilever beam equipped with a distributed set of compact grasping force secnsors. Control action is applied by a qiexoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem which the finger is commanded to grasp an object The PID-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.202-207
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• 1993

A theoretical and experimental study is presented for the force holding control of a miniature robotic ringer which is driven by a pair of piezoelectric unimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilever with a tactile force sensor at the tip and the mate of the finger is a solid beam supposed with sufficient stiffness. Further, the force sensor is modeled by a one-degree-of-freedom, mass-spring system and the output of sensor is then described by the sensor stiffness multiplied by the relative displacement. The problem investigated in this paper is that two typical holding tasks of the human finger are picked up and applied to the robotic finger. One is the work holding a stationary object with a prescribed, time-varying force and the other one is to keep the contacted force constant even if the object is in motion. The simple PID feedback control scheme is used to control the minute gripping force of order 0.01 Newton. It is shown both experimentally and theoretically that the artificial finger with the piezoelectric actuator works well in the minute force holding of the tiny object.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• Journal of the Ergonomics Society of Korea
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• v.26 no.3
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• pp.59-65
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• 2007

In this study, six grip spans (45mm-65mm) were tested to evaluate the effects of handle grip span and user's hand size on maximum grip strength, individual finger force, and subjective ratings of comfort using a digital dynamometer with individual force sensors. Forty-six males were assigned into three hand size groups according to their hand lengths. Results showed that overall 55mm and 50mm grip spans were the most comfortable sizes and associated with the highest grip strength in the maximum grip force exertions, whereas 65mm grip span was rated as the least comfortable size as well as the lowest grip strength. In the interaction effect of grip span and hand size, small and middle hand sized participants rated the best preference and the least preference grip spans differently with large hand sized participants. With respect to the analysis of individual finger force, the middle finger force was the strongest and the highest contribution to the total finger force, followed by ring, index and little fingers. In addition, it was noted that each finger had a different optimal grip span for exerting maximum force resulting in a bowed contoured shaped handle for two-handle hand tools. Thus, the grip spans for two-handle hand tools might be designed according to the users' hand and finger anthropometrics to maximize performance and subjective perception of comfort.

• Korean Journal of Applied Biomechanics
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• v.29 no.3
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• pp.157-166
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• 2019

Objective: This study examined the effects of stimulating fingertip temperature on the patterns of force sharing and stability properties during multi-finger force production tasks. Method: 9 adult subjects (male: 3, female: 6, age: $26.11{\pm}4.01yrs$, height: $169.22{\pm}5.97cm$, weight: $61.44{\pm}11.27kg$) participated in this study. The experiment consisted of three blocks: 1) maximal voluntary contraction (MVC) task, 2) single-finger ramp task to quantify enslaving (i.e., unintended force production by non-task fingers), and 3) 12 trials of multi-finger steady-state force production task at 20% MVC. There were three temperature conditions including body-temperature (i.e., control condition), $40^{\circ}C$, and $43^{\circ}C$, and the stimulation was given to the index finger only for all experimental conditions. Results: There were no significant differences in the MVC forces, enslaving, and the accuracy of performance during the steady-state task between the conditions. However, the share of stimulated index finger force increased with the index fingertip temperature, while the share of middle finger force decreased. Also, the coefficient of variation of both index and middle finger forces over repetitive trials increased with the index fingertip temperature. Under the framework of the uncontrolled manifold (UCM) hypothesis used to quantify indices of multi-finger synergies (i.e., stability property) stabilizing total force during the steady-state task, the two variance components within the UCM analysis increased together with the fingertip temperature, while no changes in the synergy indices between the conditions. Conclusion: The current results showed that fingertip temperature stimulation only to index finger does not affect to muscle force production capability of multi-finger, independence of individual fingers, and force production accuracy by the involvement of all four fingers. The effect of fingertip temperature on the sharing pattern and force variation may be due to diffuse reflex effects of the induced afferent activity on alpha-motoneuronal pools. However, the unchanged stability properties may be the reflection of the active error compensation strategies by non-stimulated finger actions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.575-576
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.211-212
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• 2012