• Vacuum Magazine
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• v.4 no.3
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• pp.6-11
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• 2017

The tactile sensor of the future robot is becoming a necessity as a sensory organ which can communicate with the person most directly. Recently, the Nature-inspired technology has provided a new direction for the development of these tactile sensors. Here, we review three different nature-inspired tactile sensory system; high sensitivity pressure sensor inspired by beetle wings, highly sensitive strain sensor inspired by the spider's sensory organs, Tactile sensor inspired by human fingertip. These nature-inspired tactile sensors are expected to provide a breakthrough that not only can sensitively measure the pressure, but also delicately recognize the softness and texture of the material just like human.

• 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..

• Proceedings of the KOSOMBE Conference
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• v.1997 no.05
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• pp.267-270
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• 1997

Oxygen saturation is an important parameter in clinical fields; fetal monitoring, apnea, emergency medicine etc. Because of monitoring patients continuously, pulse oximeter that measures oxigen saturation non-invasively is regarded attentively. But, though research about accuracy of signal extraction has been developed, it actually plays a supplementary part in hospital for not trusting the principle of measurement by clinicians. In this paper focusing on these things, first we suggested simple mathematical modelling on separating do components, ac components andnoise components in optical signal transmitted from fingertip or earlobe, and then we considered oxygen saturation computing algorithm using integral ratio of pulsating components. Last, we analyzed its effect by comparing received data.

• Transactions on Electrical and Electronic Materials
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• v.11 no.3
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• pp.130-133
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• 2010

A flexible three-axial tactile sensor was fabricated on Kapton polyimide film using polymer micromachining technology. Nichrome (Ni:Cr = 8:2) strain gauges were positioned on an etched membrane to detect normal and shear loads. The optimal positions of strain gauges were determined through strain distribution from finite element analysis. The sensor was evaluated by applying normal and shear loads from 0 N to 0.8 N using an evaluation system. Sensitivity of the tactile sensor to normal and shear loads was about 206.6 mV/N and 70.1 mV/N, respectively. The sensor showed good linearity, and its determination coefficient ($R^2$) was about 0.982. The developed sensor can be applied in a curved or compliant surface that requires slip detection and flexibility, such as a robotic fingertip.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.5-85
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• 2002

The Master-Slave manipulator is generally used as a remote handling device in the hot cell, in which the high level radio-active materials such as spent fuels are handled. This study describes a workspace mapping algorithm for a kinematically dissimilar master-slave system The algorithm provides the operator to guide the slave's end effector into unreachable regions which can appear due to the mismatch of workspace between the master and slave manipulator. A spaceball was used for the universal master device, and it can detect the slight fingertip force applied on the ball and also resolve the applied force. The spaceball device was also used to move 3D images instantaneously and simultaneou...

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.4 s.235
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• pp.540-554
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• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.481-485
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• 2003

This study describes the real-time measurement system which consist of multi-components load cell and linear motor. Operationg and data acquisition is controlled by PC. Multi-components load cell measures simultaneously the vertical force Fz and frictional force Fx when contactors move on sample surface. Linear motor is used to translate with constant speed without vibration. The frictional coefficient is calculated by Matlab$^{TM}$. The frictional coefficients between Al. plates. and fingertip and fabrics are measured.d.

• Archives of Reconstructive Microsurgery
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• v.17 no.1
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• pp.51-54
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• 2008

We experienced a case of 49-year-old male patient with amputated two fingers preserved in Soju (Korean traditional liquor, a kind of alcoholic beverages). The amputation level of the two fingers was at the distal interphalangeal joint. The Soju was not an adequate physiologic solution for preserving the amputated tissues. Even though arterial anastomosis was successful, there was no venous drainage visible in the operative field. On the first day after the initial operation, we succeeded in the anastomosis of one vein in one of the two amputated fingers. This was 12 hours after arterial anastomosis was carried out. But no venous dranage was visible in the other finger. In spite of a salvage procedure sustained with external bleeding for 7 days, this replanted fingertip eventually fell into necrosis.

• Journal of the Optical Society of Korea
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• v.10 no.2
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• pp.91-95
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• 2006

Blood pressure was predicted from photoplethysmography (PPG). To obtain PPG, backscattered light from a fingertip was measured and its waveform was analyzed. Systolic upstroke time and diastolic time in the pulse waveform were used as parameters to predict blood pressure. The experiment was carried out with five subjects on five different days. The systolic upstroke time had a correlation coefficient of -0.605 with respect to systolic blood pressure and the diastolic time had a correlation coefficients of -0.764 for diastolic pressure. This PPG method does not require an air-cuff installation on the arm and can predict blood pressure continuously. This simple LED/photo detector setup can be a good candidate for nonconstrained monitoring of blood pressure variations.

• Journal of the Ergonomics Society of Korea
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• v.17 no.2
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• pp.1-10
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• 1998

The objective of this study is to investigate hwnan operator's perceptual and psychophysical responses to vibrotactile stimulation on various parts of the hand. Using a small vibrotactile display, five different loci of the hand along with two other mechanical parameters consisting vibrotactile stimulations, which are vibration frequency and number of active contactors, were examined for the effects on absolute thresholds. All test variables were found to have significant effects on thresholds. It was observed that absolute threshold is a function of vibration frequency and number of active contactors. Tactile sensitivity was the greatest at the vibration frequency of 240 Hz, and the fingertip was found to be the most sensitive locus on the hand. The area of stimulation on the hand was also found to be significant in that the sensitivity increased with the number of active contactors. The results of the study generally supported those of other previous studies. It should also be noted, however, that the conclusions from the study should be limited to the absolute sensitivity, not to the suprathreshold intensities of normal everyday contact with the hands.