• 한국컴퓨터정보학회논문지
• /
• 제20권5호
• /
• pp.13-20
• /
• 2015

본 논문에서는 손 제스처 인식에 필요한 특징 추출을 위하여 손가락의 개수뿐만 아니라 붙어있는 손가락 판별까지 인식할 수 있는 알고리즘을 제안한다. 제안하는 알고리즘은 컬러모델 기반의 피부색 범위 필터와 레이블링을 통하여 입력 영상에서 손 영역을 검출하고, 외곽선 및 특징점과 이들로부터 추출한 곡률 정보를 이용해 펴진 손가락의 개수 및 붙어있는 손가락 판별을 통한 특징을 추출하여 다양한 손 제스쳐를 인식한다. 실험결과 인식률과 처리 가능 프레임 레이트(frame rate)는 기존 알고리즘과 유사하였지만, 추출된 특징을 가지고 정의할 수 있는 제스처의 경우의 수는 기존 알고리즘보다 약 4배 정도 많아 훨씬 더 다양한 제스처를 인식할 수 있음을 알 수 있었다.

• 한국산업융합학회 논문집
• /
• 제16권4호
• /
• pp.141-145
• /
• 2013

This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.

• 센서학회지
• /
• 제23권2호
• /
• pp.127-133
• /
• 2014

This paper describes a design and manufacture of a two-axis force sensor and a single-axis force sensor for the fingers of an intelligent robot's hand. The robot's finger is composed of a two-axis force sensor, a first knuckle, a single-axis force sensor, a second knuckle, a spring, a motor of first knuckle, a motor of second knuckle, and so on. The two-axis force sensor attached to the first knuckle and the single-axis force sensor attached to the second knuckle were designed and manufactured, and the characteristics test of two sensors was carried out. As a test results, the interference error of the two-axis force sensor was less than 0.68%, the repeatability error of each sensor was less than 0.02%, and then the non-linearity was less than 0.03%. It is thought that the sensors can be used for the fingers of the intelligent robot's hand for rehabilitation exercise of finger patients.

• 한국산업융합학회 논문집
• /
• 제18권4호
• /
• pp.231-240
• /
• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

• IEIE Transactions on Smart Processing and Computing
• /
• 제5권4호
• /
• pp.267-273
• /
• 2016

Hand posture recognition is an important technique to enable a natural and familiar interface in the human-computer interaction (HCI) field. This paper introduces a hand posture recognition method using a depth camera. Moreover, the hand posture recognition method is incorporated with the Moving Picture Experts Group Rich Media User Interface (MPEG-U) Advanced User Interaction (AUI) Interface (MPEG-U part 2), which can provide a natural interface on a variety of devices. The proposed method initially detects positions and lengths of all fingers opened, and then recognizes the hand posture from the pose of one or two hands, as well as the number of fingers folded when a user presents a gesture representing a pattern in the AUI data format specified in MPEG-U part 2. The AUI interface represents a user's hand posture in the compliant MPEG-U schema structure. Experimental results demonstrate the performance of the hand posture recognition system and verified that the AUI interface is compatible with the MPEG-U standard.

• 로봇학회논문지
• /
• 제9권4호
• /
• pp.258-263
• /
• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• 대한영상의학회지
• /
• 제84권5호
• /
• pp.1031-1046
• /
• 2023

손가락은 일상생활과 스포츠 활동 중에 가장 흔하게 손상될 수 있는 구조물이다. 손가락 손상은 손가락의 뼈와 인대, 연골을 포함한 연부조직까지 다양한 구조물의 손상을 포함한다. 특수 표면코일을 이용한 고해상도 3 테슬라 자기공명영상을 이용하여 복잡한 연부조직 구조물들을 평가할 수 있다. 손가락과 손의 기본 해부학과 흔한 병변의 자기공명영상 소견들에 대한 기존의 보고들이 있다. 손가락의 인대, 건, 도르래 등 여러 구조물의 기본 해부학과 흔한 외상성 병변의 영상학적 소견의 이해는 다양한 손의 외상성 병변에 대한 정확한 평가를 가능하게 한다. 본 눈문에서는 손가락의 기본 해부학적 구조 및 흔한 외상의 자기공명영상 소견을 복습하고, 실제 수술장 소견과 연관 지어 이해를 돕고자 한다.

• 대한인간공학회지
• /
• 제35권5호
• /
• pp.361-370
• /
• 2016

Objective:The aim of this study is to evaluate contributions of individual finger forces associated with various levels of submaximal voluntary contraction tasks. Background: Although many researches for individual finger force have been conducted, most of the studies mainly focus on the maximal voluntary contraction. However, Information concerning individual finger forces during submaximal voluntary contraction is also very important for developing biomechanical models and for designing hand tools, work equipment, hand prostheses and robotic hands. Due to these reasons, studies on the contribution of individual finger force in submaximal grip force exertions should be fully considered. Method: A total of 60 healthy adults without any musculoskeletal disorders in the upper arms participated in this study. The young group (mean: 23.7 yrs) consisted of 30 healthy adults (15 males and 15 females), and the elderly group (mean: 75.2 yrs) was also composed of 30 participants (15 males and 15 females). A multi-Finger Force Measurement (MFFM) System developed by Kim and Kong (2008) was applied in order to measure total grip strength and individual finger forces. The participants were asked to exert a grip force attempting to minimize the difference between the target force and their exerted force for eight different target forces (5, 15, 25, 35, 45, 55, 65, and 75% MVCs). These target forces based on the maximum voluntary contraction, which were obtained from each participant, were randomly assigned in this study. Results: The contributions of middle and ring fingers to the total grip force represented an increasing trend as the target force level increased. On the other hand, the contributions of index and little fingers showed a decreasing trend as the target force level increased. In particular, Index finger exerted the largest contribution to the total grip force, followed by middle, ring and little fingers in the case of the smallest target force level (5% MVC), whereas middle finger showed the largest contribution, followed by ring, index and little fingers at the largest target force levels (65 and 75% MVCs). Conclusion: Each individual finger showed a different contribution pattern to the grip force exertion. As the target force level increase from 5 to 75% MVC, the contributions of middle and ring fingers showed an increasing trend, whereas the contributions of index and little fingers represented a decreasing trend in this study. Application: The results of this study can be useful information when designing robotic hands, hand tools and work equipment. Such information would be also useful when abnormal hand functions are evaluated.

• 대한인간공학회지
• /
• 제24권4호
• /
• pp.1-5
• /
• 2005

A glove design which reflects the changes in hand surface by hand motion can reduce the undesirable effects of use of gloves on hand performance. The present study examined changes in hand length dimensions due to hand motion and identified significant factors affecting the length changes. Recruiting 120 males and females in their 20s and 30s having various hand lengths, this study measured 10 hand length dimensions, defined at 2 hand areas(phalangeal and metacarpal areas) for 5 digits, when the hand is stretched and in fist, and then calculated the percentage of length increase for each dimension. ANOVA and simple-effect analyses showed the length change percentages were mainly different depending on digit and hand area: 111-127% at the phalangeal area and 112-116% at the metacarpal area. The length change percentages of the index, middle, ring, and little fingers in the phalangeal area ascended in order and showed a high correlation(r = 0.94)with the ranges of motion of the fingers.

• 복식문화연구
• /
• 제22권5호
• /
• pp.702-711
• /
• 2014

This study was performed to investigate the hand size growth of Korean adolescents boys. Subjects were between 14 and 19 years (n=352). We collected the right hand size data of 19 measurements from each subject using 3D hand scanner. The total 26 hand measurements were analyzed including seven calculated measurements. Subjects were divided into three age groups (early, middle and late). Their hand size were compared. The results showed that all hand length measurements were significantly difference among age groups. Adolescent boys hands were sharply grown at age 16 years old. The hand dimensions of middle age group were compared with twenties men (n=215). There were significant differences between two groups. The middle age adolescents' hands were shorter and thicker than twenties men. Subjects were also divided by weight and height. Weight and height was closely related to hand size. The heavier and taller subjects had the thicker hand. Their fingers were longer than others. The adolescent boys and twenties men who were taller than the twenties' average height (173.4cm) were compared. Twenties men's hands were longer and thinner than that of adolescent boys. These results imply that the male adolescent hands grow short and thick in the adolescent period. Fingers continuously grow up as a long and thin shape after adolescent period.