• 한국의류산업학회지
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• 제24권3호
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• pp.333-345
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• 2022

This study developed and evaluated the motion control of 3D printed fingers applied to smart gloves. Four motions were programmed by assembling the module using the Arduino program: cylindrical grasping, spherical grasping, tip-to-tip pinch gripping, and three-jaw pinch gripping. Cap and re-entrant (RE) strip types were designed to model the finger. Two types of modeling were printed using filaments of thermoplastic elastomer (TPE) and thermoplastic polyurethane (TPU). The prepared samples were evaluated using three types of pens for cylidrical grasping, three types of balls for spherical grasping, and two types of cards for tip-to-tip pinch gripping and three-jaw pinch gripping. The motion control of fingers was connected using five servo motors to the number of each control board. Cylindrical and spherical grasping were moved by controlling the fingers at 180° and 150°, respectively. Pinch gripping was controlled using a tip-to-tip pinch motion controlled by the thumb at 30° and index-middle at 0° besides a three-jaw pinch motion controlled by the thumb-index finger-middle at 30°, 0°, and 0°, respectively. As a result of the functional evaluation, the TPE of 3D-printed fingers was more flexible than those of TPU. RE strip type of 3D-printed fingers was more suitable for the motion control of fingers than the 3D-printed finger.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.568-576
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• 1998

In this thesis discuss with a flexible robotic finger design and controller which is used for the micro flexible robotic finger. So, miniaturization, precision, controller for the control of grasping force and actuator were needed. And, even if we develop a new actuator and controller, in order to use on real system, we must considerate of a many side problem. In a force control of micro flexible finger for grasping an object, the fingertip's vibration was more important task of accuracy control. And, controller were adopt the PD/PI mixed type fuzzy controller. The controller were consist of two part, one is a PD type fuzzy controller for increase the rising time response, the other is a PI type fuzzy controller for decrease of steady-state error. Especially, in a PD type fuzzy controller, we used only seven rules. And, for a PI controller, we adopt a reset factor for the control of input values. so, we have overcome the exceed of controller's input range. For the estimate of ontroller's utility and usefulness, we have experiment and computer simulation of three cases. First, we consider of unit force grasping control for a task object, which is 0.03N. Second, bounding grasping force control which is add to a sinusoidal force on the unit force. At this cases the task force is (0.03+0.01 sin wt N). And consider of following of rectangular forces.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.173-180
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• 2015

In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.

• 센서학회지
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• 제20권3호
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• pp.172-177
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• 2011

Finger patients can't use their hands because of the paralysis their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by measuring the pressing force to be contacted with two fingers(thumb and first finger, thumb and middle finger, thumb and ring finger, thumb and little finger). At present, most hospitals have used a thin plastic-plate for measuring the two-finger grasping force, and we can only judge that they can grasp the plate with their two-finger through it, because the plate can't measure the two-finger grasping force. But, recently, the force measuring system for measuring two-finger grasping force was developed using three-axis force sensor, but it is very expensive, because it has a three-axis force sensor. In this paper, two-finger force measuring system with a one-axis force sensor which can measure two-finger grasping force was developed. The one-axis force sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP(Digital Signal Processing). Also, the grasping force test of men was performed using the developed two-finger force measuring system, it was confirmed that the grasping forces of men were different according to grasping methods, and the system can be used for measuring two-finger grasping force.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.543-546
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• 1996

We propose a new visual tracking system for grasping which can find grasping points of an unknown polygonal object. We construct the system with the image prediction technique and Extended Kalman Filter algorithm. The Extended Kalman Filter(EKF) based on the SVD can improve the accuracy and processing time for the estimation of the nonlinear state variables. By using it, we can solve the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. The image prediction algorithm can reduce the effect of noise and the image processing time. In the processing of a visual tracking, we can construct the parameterized family and can found the grasping points of unknown object through the geometric properties of the parameterized family.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1101-1104
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• 2003

In this paper, we performed the study on the operation characteristics of tele-grasping using the developed experimental system. The experimental system consists of master and slave gripper. and signal processing system. For the stable grasping of an object, this system feedback the normal force obtained from the straingage of the slave gripper to magnetic particle brake of the master gripper through the signal processing system. This experimental system can control the grasping force in remote using the force feedback device. Some experimental results of the-tele-grasping are presented and discussed

• The Journal of Korean Physical Therapy
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• 제29권2호
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• pp.91-94
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• 2017

Purpose: This study investigated the effects of trunk muscle activity with power grasping during one leg stance. Methods: Twenty-eight subjects participated in this study. Subjects were divided into two groups, one that performed power grasping, and another that did not. An investigator measured the activities of a subject's trunk muscle such as internal oblique (IO), external oblique (EO), erector spinae (ES), and gluteus medius (GM) while a subject was doing one leg stance. Results: An independent t-test was used to analyze trunk muscle activities with power grasping during one leg stance between the experimental group and the control group. Only the EO activity differed significantly between groups (p<0.05). Conclusion: The results indicate that one leg stance with power grasping affected trunk muscle activity. Therefore, this is a useful method for providing lumbar spine stability.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.263-272
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• 2008

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.