• 문화기술의 융합
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• 제9권4호
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• pp.393-399
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• 2023

상지 절단 장애인은 미관 목적과 기능적 필요성에 의하여 상지 의지를 착용하며, 특히 양손 절단자인 경우 잡는 동작 즉 파지동작이 가능한 근전 전동의수의 착용이 필수적이다. 잔존 근육의 근전도 신호에 의하여 작동하는 근전 전동의수는 산업재해보상보험의 공적보험 급여 품목이며, 사용자의 안전과 제품 성능의 유효성에 대한 시험 방법 표준의 개발이 필요하다. 본 연구에서는 상지 전동의수의 잡는 힘 즉 파지력을 로드셀을 이용하여 측정하고 반복 동작으로 인한 내구성을 근접센서를 이용하여 시험하기 위한 내구성 시험 장치를 개발하고 그 시험 방법의 표준을 제안한다. 아직까지 국제 표준화 기구 ISO(International Standardization Organization)의 시험 표준이 제정되지 않은 상태이므로 향후 전동의수 시험 표준 분야에서 한국의 선도적인 역할을 할 수 있을 것으로 기대된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1853-1857
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• 2005

This paper reports on the development of the gripping system for automation of phone-camera module assembling. If manual assembling is shifted by automation, it will increase the fabrication speed and reduce the defective rate. In the gripping mechanism design, we needs self-adjustable passive mechanism that minimize the number of the parts. The self-adjusting system compensates the positioning errors that have been made in translations. And also we need gripper system that can be modules of parts. That makes it easy to change or repair the parts. The forces put on the objects is another considerable in the system. It must not cause dropping, breakage, scratch, and large deformation. So final target of this reaseach is how to develop the system that is speedy, small, simple, and safe

• Structural Engineering and Mechanics
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• 제77권1호
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• pp.75-87
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• 2021

The present study pertains to the introduction of two new types of grip adaptor for universal testing machines, namely Polyvinyl Chloride (PVC) and Polyoxymethylene (POM) grip adaptors, and their application to tension testing of FRP bars with different fiber and surface finish types. The tabs are connected to the FRP bar sample with the help of mechanical anchors, i.e. bolts. These new adaptors offer vital superiorities over the existing end tab designs (anchors with filling material or mechanical anchorage), including the reduction in the time and labor for production, reusability and the mild nature, i.e. low hardness of the tab material, which retards and even prevents peeling and crushing in the gripping regions of an FRP sample. The methods were successfully applied to FRP bars with different types of fiber (CFRP, GFRP and BFRP) and different types of surface texture (ribbed, wrapped, sand-coated and wound). The test results indicated that the both types of end caps prevented slip of the bar, crushing and peeling in the gripping zone. The mechanical properties from the material tests with the new caps were in perfect agreement with the ones from the material tests with steel tubular caps.

• 로봇학회논문지
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• 제17권4호
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• 센서학회지
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• 제33권3호
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• pp.165-172
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• 2024

In this study, we investigated the detection properties of piezoresistive carbon nanotubes/polydimethylsiloxane (CNT/PDMS) devices with porous structures under applied pressure. The device, having dimensions of 10 mm × 10 mm × 5 mm, was fabricated with a porosity of 74.5%. To fabricate piezoresistive CNT/PDMS devices, CNTs were added using two different methods. In the first method, the CNTs were mixed with PDMS before the fabrication of the porous structure, while in the second, the CNTs were coated after the fabrication of the porous structure. Various detection properties of the fabricated devices were examined at different applied pressures. The CNT-coated device exhibited stable outputs with lesser variation than the CNT-mixed device. Moreover, the CNT-coated device exhibited improved reaction properties. The response time of the CNT-coated device was 1 min, which was approximately about 20 times faster than that of the CNT-mixed device. Considering these properties, CNT-coated devices are more suitable for sensing devices. To verify the CNT-coated device as a real sensor, it was applied to the gripping sensor system. A multichannel sensor system was used to measure the pressure distribution of the gripping sensor system. Under various gripping conditions, this system successfully measured the distributed pressures and exhibited stable dynamic responses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1541-1544
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• 1997

The rehailitation robot, one of the service robot, is the important area in the service automation. In the paper, we describe the overall configuration of KARES(KAIST Rehabilitation Engineering System), which is an intellingent rehabilitaion robotic system designed to assist the independent livelihood of the handicapped and the eldrly. KARES consists of the 6 degree of freedom robot arm mounted on a wheelchair, the controller ofr the arm, sensors to perceive environment, and user interface. Basic desired hobs in KARES are gripping the target object and moving it to the user's face for eating, drinking, or cooperation work wiht the mouth. Currently, the manual operation of the arm is available for gripping to target objects. The autonomous functionality will be ginven for the facilities of the human operator.

• 대한정형도수물리치료학회지
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• 제16권2호
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• pp.48-52
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• 2010

Object: The aim of this study is to descrive the effect of neurodynamic technique and self management exercise for carpal tunnel syndrome patients(CTS) Method: 13 patients with CTS participated in this study. They were from 18 to 70 years old and mean age was 25.3. In the evalutaion, gripping with grip dynamometer, strength of gripping with precision pinchmeter, pain level with visual analogue scale. All measurement of each subject were measure at pre- treatment and post treatment(after 1week) and post treattment(after 2 weeks) stage. The physical therapy program consisted of neurodynamic technique and self management exercise. SPSS 12.0 program was used to compile result. Result: The grip, pinch, VAS-P were significantly difference between pre-treatment and post treatment(after 2weeks)(p<.05) Conclusion: This study suggest that 3weeks neurodynamic technique and self management exercise improved grip and pinch strength and decrease pain score.

• 유공압시스템학회논문집
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• 제8권3호
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• pp.14-20
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• 2011

This study aims at aligning multiple wafers to reduce wafer handling time in wafer processes. We designed a multilevel structure for a prealigner which can handle multiple wafer simultaneously in a system. The system consists of gripping parts, kinematic parts, vacuum chucks, pneumatic units, hall sensors and a DSP controller. Aligning procedure has two steps: mechanical gripping and notch finding. In the first step, a wafer is aligned in XY directions using 4-point mechanical contact. The rotational error can be found by detecting a signal in a notch using hall sensors. A dual prealigner was designed for 300mm wafers and constructed for a performance test. The accuracy was monitored by checking the movement of a notch in a machine vision. The result shows that the dual prealigner has enough performance as commercial products.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.525-530
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• 1995

The main objective of this study is to develop a gripper mechanism that can be employed for assembly and removal tasks of a nozzle-dam of steam gererator which is one of the nuclear reactor maintenance process. Brief description of the open-close type gripper mechanism, its postion analysis, and its kinematic amalysis are given. The optimal design of the gripper mechanism with slipping on its two gripping surfaces is considered. As an optimaldesign index, the ratio of the actuator force of prismatic cylinder to gripping load is proposed. Then, based on this index the optimal design synthesis is careied out to identify values of optimal design parameters for the gripper mechanism.

• 로봇학회논문지
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• 제18권4호
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• pp.456-462
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• 2023

In recent years, the use of robot arms has increased rapidly in both industrial and service applications. Unlike production sites, where only one type of gripper is used for productivity, service sites often use a tool changer to replace fingered grippers or vacuum grippers to cover various objects to be grasped. To this end, a tool changer-based pneumatic grasping system was developed in this study. In order to simultaneously use a positive pressure-based pneumatic gripper and a negative pressure-based vacuum gripper, a small vane pump capable of generating positive and negative pressures depending on the direction of rotation was developed. Experiments with actual prototypes have shown that the pneumatic system based on the developed vane pump can effectively realize both pneumatic grippers and vacuum grippers.