• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.24-27
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• 2003

This paper discusses practical strategies for transition from a pinching to a power grasping, where a multi-fingered hand mounted on a robotic arm envelops a cylindrical object on a table. When the manipulation system grasps a cylindrical object like a pen on a desk, a complete enveloping is not impossible in the initial configuration. The system firstly pinches the object only with two or three fingers and then grasp it with fingers and a palm after regrasping. In this pinching-grasping transition maneuver, human unconsciously selects proper strategy according to some conditions including object dimensions and initial pinching positions. In this paper we therefore develop six possible strategies for this pinching-grasping transition and then investigate their performances for some objects with various dimensions and various grasping positions, using numerical simulations. Based on their results, effective strategies are implemented by using a hand-arm system.

• Fashion & Textile Research Journal
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• v.7 no.1
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• pp.106-110
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• 2005

This research surveys the mechanical properties of worsted fabrics for garment according to the loom characteristics and fabric positions with relation to the warp and weft weaving tensions on the projectile and air-jet looms, which is previously surveyed in the 1st paper. For this purpose, the grey fabrics are processed in dyeing and finishing processes. The mechanical properties of the finished fabrics are measured and discussed with relation to the warp and weft weaving tensions of projectile and air-jet looms and the variations of the fabric mechanical properties according to the fabric positions are also surveyed for investigating the homogeneity of the tailorability and fabric hand.

• Fashion & Textile Research Journal
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• v.6 no.6
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• pp.772-777
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• 2004

This research surveys the mechanical properties of worsted for garment according to the loom characteristics and fabric positions with relation to the warp and weaving weft tensions on the 3 types of rapier looms, which is previously surveyed in the 1st paper. For this purpose, the grey fabrics are processed in dyeing and finishing processes. The mechanical properties of the finished fabrics are measured and discussed with relation to the warp and weft weaving tensions of 3 types of rapier looms and the variations of the fabric mechanical properties according to the fabric positions are also surveyed for investigating the homogeneity of the tailorability and fabric hand.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.8
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• pp.3136-3150
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• 2015

A vision-based 3D tracking of articulated human hand is one of the major issues in the applications of human computer interactions and understanding the control of robot hand. This paper presents an improved approach for tracking and recovering the 3D position and orientation of a human hand using the Kinect sensor. The basic idea of the proposed method is to solve an optimization problem that minimizes the discrepancy in 3D shape between an actual hand observed by Kinect and a hypothesized 3D hand model. Since each of the 3D hand pose has 23 degrees of freedom, the hand articulation tracking needs computational excessive burden in minimizing the 3D shape discrepancy between an observed hand and a 3D hand model. For this, we first created a 3D hand model which represents the hand with 17 different parts. Secondly, Random Forest classifier was trained on the synthetic depth images generated by animating the developed 3D hand model, which was then used for Haar-like feature-based classification rather than performing per-pixel classification. Classification results were used for estimating the joint positions for the hand skeleton. Through the experiment, we were able to prove that the proposed method showed improvement rates in hand part recognition and a performance of 20-30 fps. The results confirmed its practical use in classifying hand area and successfully tracked and recovered the 3D hand pose in a real time fashion.

• Communications for Statistical Applications and Methods
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• v.14 no.3
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• pp.561-576
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• 2007

Five plotting positions are applied to the computation of probability weighted moments (PWM) on the parameters of the generalized logistic distribution. Over a range of parameter values with some finite sample sizes, the effects of five plotting positions are investigated via Monte Carlo simulation studies. Our simulation results indicate that the Landwehr plotting position frequently tends to document smaller biases than others in the location and scale parameter estimations. On the other hand, the Weibull plotting position often tends to cause larger biases than others. The plotting position (i - 0.35)/n seems to report smaller root mean square errors (RMSE) than other plotting positions in the negative shape parameter estimation under small samples. In comparison to the maximum likelihood (ML) method under the small sample, the PWM do not seem to be better than the ML estimators in the location and scale parameter estimations documenting larger RMSE. However, the PWM outperform the ML estimators in the shape parameter estimation when its magnitude is near zero. Sensitivity of right tail quantile estimation regarding five plotting positions is also examined, but superiority or inferiority of any plotting position is not observed.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.81-86
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• 2020

The Purpose of this study is analysis characteristic of grasping power with each different shoulder horizontal angle. Twenty female university students with no shoulder dysfuction participated subject in three different positions of shoulder horizontal flexion with standing posture, shoulder 0° flexion, elbow 90° flexion, forearm 90° pronation, different positions is followed : shoulder 0° horizontal adduction shoulder 40° horizontal adduction, shoulder 40° horizontal abduction. The One-way repeated ANOVA test was used to determine the different in grip strength on three shoulder horizontal positions. On the average, in the hand grip strength, the horizontal neutral position is higher than horizontal adduction position with significant value. In particular, shoulder horizontal aduction was measured lowest grip strength between three positions.

• Journal of International Academy of Physical Therapy Research
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• v.2 no.1
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• pp.229-236
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• 2011

The purpose of this study was to comparatively analyze the active stability of shoulder joints according to the frequency of overhead motions, such as serving and spiking, engaged in by female professional volleyball athletes who play different positions, and to provide the results as the basic data for developing exercise programs to prevent shoulder joint injuries. The subjects of this study were 50 Korean female professional volleyball players and positions were as follows: left and right attackers, centers, setters, and liberos. The external rotation and internal rotation muscle strength and muscle strength ratios of the dominant and non-dominant arms of all subjects were measured using Biodex. The results of this study are as follows: Frist, no significant differences were found in the internal and external rotation muscle strength of the dominant and non-dominant arms between positions. Second, for the shoulder joint muscle strength ratio of the dominant arm, by position, the setter showed significantly greater stability compared to the other positions. Third, for the shoulder joint muscle strength ratio of the non-dominant arm, by position, no significant difference in stability between positions was found. Fourth, it was found that the dominant arm had significantly greater instability of the shoulder joint than the non-dominant arm for attackers and centers, but no significant difference was found for setters and liberos. This study comparatively analyzed the muscle strength ratios of the external/internal rotations and dominant/non-dominant arms, which can determine the stability of the shoulder joints between female professional volleyball playing positions that engage in jumps and spikes using only the dominant hand and positions that do not.

• Korean Journal of Applied Biomechanics
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• v.27 no.1
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• pp.1-7
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• 2017

Objective: The purpose of this study was to analyze the relationship between ground reaction force (GRF) and attack time according to the position of hand segments during counter attack in Kendo. Method: The participants consisted of 10 kendo athletes (mean age: $21.50{\pm}1.95yr$, mean height: $175.58{\pm}5.02cm$, mean body weight: $70.96{\pm}9.47kg$) who performed standard head strikes (A) and counter attack with a preferred hand position of +10 cm (B), 0 cm (C), and -10 cm (D). One force-plate (AMTI-OR-7., USA) was used to collect GRF data at a sample rate of 1,000 Hz. The variables analyzed were the attack time, medial-lateral GRF, anterior-posterior GRF (AP GRF), peak vertical force (PVF), and loading rate. Results: The total attack time was shorter in types A and C than in types C and D. The AP GRF, PVF, and loading rate had significantly higher forces in types C and D than in types A and C. The attack time (bilateral and unilateral leg support and total) was positively correlated with the GRF variables (vertical GRF and loading rate) during the counter attack in Kendo (r = 0.779 [$R^2=0.607$], p < 0.001). Conclusion: The positions of the hand segments can be changed by various conditions of the opponent in Kendo competitions; however, the position preferred by an individual can promote the successful ratio of the counter attack.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.59-68
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• 2005

In this study, we establish a theory for dynamic behaviors of an automatic ball balancer, analyze its dynamic characteristics, and provide its design guide line. Equations of motion are derived by using the polar coordinate system instead of the rectangular coordinate system which was previously used in other researches. After non-dimensionalization of the equations, the perturbation method is applied to locate the equilibrium positions and to obtain the linearized equations of motion around the equilibrium positions. The Eigenvalue problem is used to verify the dynamic stability around the equilibrium positions. On the other hand, the time responses are computed from the nonlinear equations of motion by using a time integration method.

• Journal of KSNVE
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• v.9 no.2
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• pp.363-370
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• 1999

In this study, we establish a theory for dynamic behaviors of an automatic ball balancer, analyze its dynamic characteristics, and provide its design guide line. Equations of motion are derived by using the polar coordinate system instead of the rectangular coordinate system which was previously used in other researches. After nondimensionalization of the equations, the perturbation method is applied to locate the equilibrium positions and to obtain the linearized equations of motion around the equilibrium positions. The Eigenvalue problem is used to verify the dynamic stability around the equilibrium positions. On the other hand, the time responses are computed from the nonlinear equations of motion by using a time integration method.