• 한국산업융합학회 논문집
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• 제22권4호
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• 제어로봇시스템학회논문지
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• 제7권4호
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• pp.309-318
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• 2001

In this paper, we describe methods that analyze a human gesture. A human interface(HI) system for analyzing gesture extracts the head and hand regions after taking image sequence of and operators continuous behavior using CCD cameras. As gestures are accomplished with operators head and hands motion, we extract the head and hand regions to analyze gestures and calculate geometrical information of extracted skin regions. The analysis of head motion is possible by obtaining the face direction. We assume that head is ellipsoid with 3D coordinates to locate the face features likes eyes, nose and mouth on its surface. If was know the center of feature points, the angle of the center in the ellipsoid is the direction of the face. The hand region obtained from preprocessing is able to include hands as well as arms. For extracting only the hand region from preprocessing, we should find the wrist line to divide the hand and arm regions. After distinguishing the hand region by the wrist line, we model the hand region as an ellipse for the analysis of hand data. Also, the finger part is represented as a long and narrow shape. We extract hand information such as size, position, and shape.

• 한국운동역학회지
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• 제13권2호
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• pp.13-28
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• 2003

The purpose of this study was to analyze the kinematic characteristics of Ice hockey slap shot. The subjects of this study were four professional ice hockey players. The reflective markers were attached on the anatomical boundary line of body and the subjects were asked to perform the shot. Ariel Performance Analysis System was used to capture and digitize the shooting image, the data were analyzed by LabView 6i. The results were as fellows. 1. The period of the back swing phase was $0.542{\pm}0.062sec$, the down swing phase was $0.28{\pm}0.056sec$ and the total swing time was $0.825{\pm}0.017sec$ 2. The maximum linear velocity of the stick blade for x direction was shown after 7% of impact, for y, z direction were shown before 2%, 8% of Impact. 3. The maximum velocity of each segment for the left arm was $2.35{\pm}0.05m/s$ in the upper arm, $3.56{\pm}0.34m/s$ in the forearm, $4.75{\pm}0.67m/s$ in the hand. 4. The maximum velocity of each segment for the right arm was $4.67{\pm}0.43m/s$ in the upper arm, $7.22{\pm}0.69m/s$ in the forearm, $9.42{\pm}0.89m/s$ in the hand. 5. The angle of left elbow was generally flexed from the ready stance to the impact and was $82.26{\pm}3.45^{\circ}$ the moment of Impact. 6. The angle of the left shoulder was increased ut the down swing phase and was $78.74{\pm}4.78^{\circ}$ on the moment of impact. 7. The angle of the right shoulder was decreased in the down swing phase and increased before the impact. and the angle was $51.28{\pm}3.54^{\circ}$ on the moment of impact.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.1043-1047
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• 2003

Most of the measurement and the evaluation of hand-transmitted vibration have been performed by using a small size single axis accelerometer between the handle and the hand palm or a three axis accelerometer attached on an adapter outside the hand(indirect measurement). It is most desirable for the correct evaluation of hand-transmitted vibration form the power tool handle to measure the acceleration between the handle surface and the hand palm in the three axis(direct measurement) as recommended in ISO 5349-1. In the study three axes acceleration measurement device was developed of which the thickness was less than 7mm so that it can be placed between the handle and the palm without any inconvenience during the measurement. To verify the performance of the developed device, measured acceleration by the two methods, direct and indirect, were compared in the study.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.940-943
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• 1996

In teleoperating, as seeing the monitor screen obtained from a camera instituted in the working environment, human operator generally controls the slave arm. Because we can see only 2-D image in a monitor, human operator does not know the depth information and can not work with high accuracy. In this paper, we proposed a traded control method using an visual sensor for the purpose of solving this problem. We can control a teleoperation system with precision when we use the proposed algorithm. Not only a human operator command but also an autonomous visual sensor feedback command is given to a slave arm for the purpose of coincidence current image features and target image features. When the slave arm place in a distant place from the target position, human operator can know very well the difference between the desired image features and the current image features, but calculated visual sensor command have big errors. And when the slave arm is near the target position, the state of affairs is changed conversely. With this visual sensor feedback, human does not need coincide the detail difference between the desired image features and the current image features and proposed method can work with higher accuracy than other method without, sensor feedback. The effectiveness of the proposed control method is verified through series of experiments.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.378-381
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• 2002

본 논문에서는 근전도(EMG) 신호를 이용하여 휴먼보조 장치나 원격 제어에 활용할 수 있는 가상 로봇 팔 제어 방식을 제안한다. 4개의 표면 전극에서 근전도 신호를 측정하여 SOM과 LVQ를 이용하여 동작을 분류하는 시스템이다. 인터페이스 프로그램은 PC 상에서 구성하였다. 제안한 방식의 실험결과 94%의 분류 성공률을 얻었다.

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

• 한국산업정보학회논문지
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• 제17권4호
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• pp.9-15
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• 2012

This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

• 한국산업보건학회지
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• 제18권1호
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• pp.1-10
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• 2008

In order to evaluate performance of anti-vibration gloves, it is necessary to measure the transmitted vibration to the hand and the applied forces at the same time while gripping the vibrating handle. In the study a system was developed to measure both the vibration and the forces. The system consists of a measurement handle with eight strain gauges and two accelerometers and a PC-based system with a software for signal processing, evaluation of the hand-transmitted vibration and for control of applied forces in the pre-determined range. The handle was installed on the vibration shaker which is strong enough so as not to be affected by dynamic coupling with the hand-arm. Whole procedure of ISO 10819:1996 to determine the vibration transmissibility of anti-vibration gloves was programmed into the system. As an example of the application, three subjects joined the test to get vibration transmissibilities of 9 anti-vibration gloves where each glove was tested twice a subject. Average and standard deviation of the corrected vibration transmissibility were also calculated. All tested gloves fulfilled criterion for M-spectrum($\overline{TR_M}$<1.0), but one glove fulfilled criterion for H-spectrum($\overline{TR_H}$<6.0),

• 전자공학회논문지S
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• 제35S권11호
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• pp.75-87
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• 1998

KARES(KAIST Rehabilitation Engineering System)는 보조자 없이 팔과 다리가 불편한 장애인과 노약자가 쉽게 이동하며 일상 생활을 하는 것을 돕기 위하여, 6 자유도의 로봇 팔과 휠체어에 장착한 형태의 재활 로봇 시스템이다. 재활 로봇 시스템에서 로봇 팔을 프로그램하고 제어할 수 있는 인터페이스 장치는 매우 중요하다. 특히 사용자가 로봇 팔을 직접 제어하는 경우, 사용자의 인지력의 부담이 심하고 조작의 어려움을 느낀다. 이에 대한 해결책으로 로봇이 자율적으로 작업을 수행하기 위한 칼라 비전 시스템을 제안하고 기본적으로 필요한 네 가지 작업을 정하였다. 로봇 팔에 아이-인-핸드 형태로 카메라를 장착하여 칼라 비전 시스템을 구축하고, 탁자 위에 있는 칼라 표식이 부착된 컵을 잡는 작업과 작은 컵을 입 근처로 이동하는 작업을 구현하였다. 그 결과, 실내 환경에서 실시간에 성공적으로 수행되었다.