• 대한기계학회논문집A
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• 제35권5호
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• pp.459-467
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• 2011

상지 운동기능 장애인의 재활치료에 대한 지속적인 관심과 훈련의 정량적인 평가가 요구되고 있다. 이러한 문제를 해결하기 위해서 햅틱 장치를 개발했다. 피험자가 햅틱 장치의 손잡이를 움직일 때, 가상의 힘을 제시하여 그들의 동작에 대해 어시스트력이나 항력을 제시할 수 있다. 개발한 상지 운동훈련 프로그램과 시스템의 유효성을 검토하기 위해, 5 명의 운동기능 장애인을 대상으로 직선동작 훈련 프로그램을 수행할 때의 손잡이 위치, 수행 속도, 손잡이의 오차 및 상지의 EMG 신호를 측정하였다. 5 명의 피험자의 손잡이의 궤적 및 EMG 활동이 유사함을 보였다. 이러한 결과는 가상 현실의 힘을 손잡이에 제시함으로써 EMG 활동이 증가하였다고 볼 수 있다. 본 실험의 결과, 객관적이며 정량적인 상지 재활치료 시스템의 개발 및 평가 방법이 시사되었다.

• 한국기계가공학회지
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• 제21권4호
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• pp.31-38
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• 2022

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.1038-1042
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• 2003

In order to evaluate dynamic impedance of a hand-arm system it is necessary to measure the hand-transmitted vibration and the reaction force at the same time while gripping the vibrating handle. In the study a device was developed to measure both the vibration and the force. The device consists of a measurement handle with four strain gauge and two accelerometers and a PC based control system with a program for the signal processing and evaluation of the hand-transmitted vibration and reaction force. The handle was installed on the vibration shaker so that it can move by the generated signal from the control system. As an application of the system dynamic reaction force and the frequency weighted acceleration at the handle attached to the shaker were measured at various grip force and feed force. This system will be very useful in the area of impedance measurement and the evaluation of performance of anti-vibration gloves.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.9-16
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• 2002

In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.

• 한국공작기계학회논문집
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• 제17권5호
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• pp.107-115
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• 2008

In this research, it has been developed the tongs mechanism by a friction force for curbstone working. This tongs apparatus was farmed to grip and rotate the rectangular curbstone. Specification of this tongs apparatus has been determined by considering a loading weight and reversal load preventing reversal of 1.5 ton excavator. And, specification of the linear actuator has been determined with considering mechanical structure and the operation power demanded by the grip pad friction of tongs apparatus. The safety of the part has been examined from the 3D numerical simulation of the tongs apparatus. The operation system has been arranged to grip and rotate curbstone by on-off switching. The prototype has been established to carry out experiment after installing 1.5 ton excavator.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
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• pp.245-248
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• 2005

본 논문에서는 휴대 단말기의 조작을 손쉽게 할 수 있는 새로운 사용자 인터페이스 시스템을 제안한다. 제안된 사용자 인터페이스의 기본 개념은 사용자의 휴대 단말 파지 형태를 감지 및 인식해 해당 파지 형태에 가장 적절한 기능을 실행하는 것이다. 이를 위해 본 논문에서는 사용자의 파지 형태를 감지할 수 있는 정전 용량 기반 터치 센서를 디스플레이 부를 제외한 모든 면에 장착하고 감지된 파지 형태에 가장 적합한 기능을 제안하는 인식 알고리즘을 장착한 시제품을 제작한다. 제안된 방법의 효용성을 실제 사용자파지 형태 데이터에 기반한 인식률을 측정해 검증하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권4호
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• pp.304-313
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• 2006

This paper describes a novel way of applying capacitive sensing technology to a mobile user interface. The key idea is to use grip-pattern, which is naturally produced when a user tries to use the mobile device, as a clue to determine an application to be launched. To this end, a capacitive touch sensing system is carefully designed and installed underneath the housing of the mobile device to capture the information of the user's grip-pattern. The captured data is then recognized by dedicated recognition algorithms. The feasibility of the proposed user interface system is thoroughly evaluated with various recognition tests.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1011-1020
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• 2016

This paper introduces a tactilely transparent soft glove composed of soft materials and flexible structures. Although it is hard to achieve a high grasping force with conventional grip-assist gloves made from soft material, the proposed glove can exert a high force by using a novel structure. This structure has a triangular shape composed of flexible structural frames, soft fabric, and belts. It can produce grip-assist moment compliantly without harmful force or misalignment with the human fingers. The whole finger part that comes into contact with objects is made of thin and soft fabric in order to facilitate sensation transference. The proposed tactilely transparent soft glove enables the user to manipulate various objects owing to both the softness and high grasping force; it helps lifting heavy weight objects as well as permitting delicate tactile feeling on the palm and fingers. The proposed concept was applied to a two-finger grip-assist device for validation. In addition, the experimental results regarding grasping objects, fingertip force, and grasping force are presented.

• 대한인간공학회지
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• 제34권5호
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• pp.447-454
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• 2015

Objective: The purposes of this study are to survey general and ergonomics relevant patents of major foreign countries, to classify the ergonomics patents into some categories frequently found in the patents lists surfed and to compare the results with those of Korea. Background: Under today's severe competitions between countries and between companies, the intellectual property has never been more important. It is needed to investigate Korea's positions and worldwide status of patent applications and grants for general and ergonomics patents. Method: This study was mainly based on relevant websites surfing such as KIPRIS, FPO, EPO, WIPO, etc. Results: The results showed that while Korea placed fourth in patent applications and grants in 2012, following US, Japan and China, Korea ranked seventh in the number of ergonomics patents. Of the overseas ergonomics patents, the proportion of tool/device was the second highest to category of others, followed by chair/desk, grip/handle and keyboard, etc. Compared to the overseas ergonomics patents, Korea showed a slightly different trend that there were less patents for specific fields of ergonomics such as grip/handle, keyboard, tool/device, etc. Conclusion: The number of ergonomics patents of Korea was behind most foreign countries surveyed in the number of patent applications and grants of, and there were many categories of overseas ergonomics patents. Application: This study would be used as a reference or guideline when developing varying ergonomic products or applying to ergonomics patents.

• 소성∙가공
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• 제15권3호
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• pp.247-254
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• 2006

Rather than traditional manufacturing processes, miniature manufacturing processes usually require sophisticated equipments and characteristics of the processes of high cost and of low productivity. Contrarily, miniature stamping process can be realized in a low cost high productivity with relatively inexpensive equipments. In the meso scale, mechanical properties, especially work hardening characteristics, are discovered to be statically scattered and size dependent by intensive experimental and numerical investigations, which make the stamping process hard to apply to the miniature manufacturing. In this study, dual purpose experimental device that can be used for both miniature scale tensile test and miniature scale stamping by simple change of attachment has been developed. For the tensile test, the elongation has been measured with a combined use of a CCD camera and a linear encoder in order to account for the possibility of slippage between specimen and the grip and to ensure the accuracy of the measurement, while load has been measured with a load cell. To satisfy the required material properties for stamping, optimal annealing condition has been found by examining the microstructure of annealed specimen.