• Journal of information and communication convergence engineering
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• 제8권2호
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• pp.180-184
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• 2010

This paper proposes a robot motion authoring using finger-robot interaction. The proposed method is a user friendly method that easily authors (creates and controls) robot motion according to the number of fingers. The effectiveness of the proposed motion authoring method was verified based on motion authoring simulation of an industrial robot.

• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• International journal of advanced smart convergence
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• 제4권2호
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• pp.154-162
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• 2015

This paper focuses on how cognitive and emotional structures affect humans during long-term interaction. We design an interaction with a turn-based game, the Chopstick Game, in which two agents play with numbers using their fingers. While a human and a robot agent alternate turn, the human user applies herself to play the game and to learn new winning skills from the robot agent. Conventional valence and arousal space is applied to design emotional interaction. For the robotic system, we implement finger gesture recognition and emotional behaviors that are designed for three-dimensional virtual robot. In the experimental tests, the properness of the proposed schemes is verified and the effect of the emotional interaction is discussed.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.593-598
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• 2014

Hand gesture recognition based on vision is a challenging task in human-robot interaction. The sign language of finger spelling alphabets has been tested as a kind of hand gesture. In this paper, we test hand gesture recognition by detecting the contour shape and orientation of hand with visual image. The method has three stages, the first stage of finding hand component separated from the background image, the second stage of extracting the contour feature over the hand component and the last stage of comparing the feature with the reference features in the database. Here, finger spelling alphabets are used to verify the performance of our system and our method shows good performance to discriminate finger alphabets.

• 대한인간공학회지
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• 제28권3호
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• pp.1-6
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• 2009

Recently, importance of the rehabilitation of hand pathologies as well as the development of high-technology hand robot has been increased. The biomechanical model of hand is indispensable due to the difficulty of direct measurement of muscle forces and joint forces in hands. In this study, a three-dimensional biomechanical model of four fingers including three joints and ten muscles in each finger was developed and a mathematical relationship between neural commands and finger forces which represents the enslaving effect and the force deficit effect was proposed. When pressing a plate under the flexed posture, the muscle forces and the joint forces were predicted by the optimization technique. The results showed that the major activated muscles were flexion muscles (flexor digitorum profundus, radial interosseous, and ulnar interosseous). In addition, it was found that the antagonistic muscles were also activated rather than the previous models, which is more realistic phenomenon. The present model has considered the interaction among fingers, thus can be more powerful while developing a robot hand that can totally control the multiple fingers like human.

• 한국산업융합학회 논문집
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• 제18권4호
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• pp.216-223
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• 2015

Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.