• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.8
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• pp.374-379
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• 2002

In this study, we developed a new human arm movement detection system using electrical bio-impedance method with several skin-electrodes. The correlation coefficients of the joint angle and the impedance change from human arm movement was obtained using a goniometer and impedance measurement system developed in this study. The correlation coefficients of the wrist and the elbow movements were 0.94 and -0.99, respectively. This system was applied to control a robotic arm by converting the measured impedance to joint angle to confirm the validity of the proposed system. In conclusion, we confirmed that this system can control the robotic arm according to arm movement without any limitation of movement. This system showed possibility that upper arm movement could be easily measured by impedance measurement system with a few skin-electrodes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1603-1604
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• 2011

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.8 s.113
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• pp.789-796
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• 2006

The characteristics of the four standard floor impact sources (impact ball, bang machine, tapping machine, modified tapping machine) and a human impact source (jumping children) were investigated. First, the mechanical impedance of each source were evaluated. Then, the impact force exposure level of each source were measured. The results showed that fundamental frequency and impedance produced by the impact ball are the most similar to those of the human impact source. The frequency characteristics of the impact ball were most similar to those of jumping children. Consequently, the impact ball more accurately reproduces human impact compared to the other standard impact sources. Therefore, the impact ball should be considered as the reliable impactor in evaluating floor impact noise.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.8
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• pp.647-654
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• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• Journal of Chest Surgery
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• v.28 no.11
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• pp.973-976
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• 1995

The assessment method of human body composion by bioelectrical impedance is very simple, safe, rapid and noninvasive. Based on prediction formulas for total body water from bioelectrical impedance, the observed weight loss should be associated with an increase in impedance. However in edematous patients for dialysis, the calculated total body water loss as calculated from impedance were overestimated and significantly higher than the weight loss after dialysis. So determination of impedance were made in 50 edematous patients before, during and after dialysis. Mean weight loss, which was assumed to be only loss of water was 1719$\pm$ 866 gr and mean impedance change was 71.0 $\pm$ 23.0 Ohm under 50kHz. Body weight loss was highly correlated [r>0.81 with the increase in body impedance under variable frequencies[1, 10, 20, 30, 40, 50 kHz . But there were no differences between frequences. In conclusion, clinical application of bioelectrical impedance method is useful for individual edematous patients with new correlation equation[Y=230+26.8X, X;Impedance change, Y;Calculated total body water loss .

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.191-194
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• 1995

This paper evaluates the influences of sex on the human emotions while coexisting with robots. When we consider human vision, robot's motion is the most important parameter which influences human emotions and must be well controlled for males and females emotions. On the other hand, when we consider human touch of sense, which is effective for cooperation transmitting mutual forces, the softness of robot is an important parameter for human emotions and must be also well controlled for males and females emotions. From these points of view, at first, we evaluate robot's motion under four different shapes of velocity pattern while handing over a cup to humans. Second, we evaluate robot's softness realized by impedance control. From the first experiment, we concluded that the conditions of choosing an adequate maximum velocity value and locating the velocity peak at the center or the first half of the duration are necessary for male's emotions. In addition, the smooth velocity decrease in the last part of the velocity pattern's duration is desired for female's emotions. From the second experiment, we concluded that females prefer lighter values of virtual impedance characteristics than males and any small increase on the heaviness of virtual impedance values is followed by the negative exponential change on human emotions.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.2174_2175
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• 2009

This Paper present about loop impedance characteristic based on korea internal electrical environment. Analysis parameters were touch voltage, electrical shock current and human body resistance. Result, For protect of electrical shock must measuring of loop impedance. And current capacity & loop impedance are must important parameters.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2887-2890
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• 2003

This paper describes the possibility of analyzing gait pattern from the variation of the lower leg electrical impedance. This impedance is measured by the four-electrode method. Two current electrodes are applied to the thigh, knee, and foot, and two potential electrodes are applied to the lateral, medial, and posterior position of lower leg. The correlation coefficients of the joint angle and the impedance change from human leg movement was obtained using electrogoniometer and 4ch impedance measurement system developed in this study. We found the optimal electrode position for ankle, knee and hipjoint movements based on high correlation coefficient, least interference, and maximum magnitude of impedance change. The correlation coefficients of the ankle, knee, and the hip movements -0.87, 0.957 and 0.80. respectively. From such features of the lower leg impedance, it has been made clear that different movement patterns exhibit different impedance patterns and impedance level. This system showed possibility that lower leg movement could be easily measured by impedance measurement system with a few skin-electrodes.