• 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.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06c
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• pp.399-403
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• 2010

지능로봇은 복잡하고 동적으로 변화하는 환경 내에서 다양한 인식기를 통해 주변 환경 및 상황을 인식하고 이를 바탕으로 사용자에게 지속적으로 유용한 서비스를 제공하는 지능 시스템이다. 그러나 인식 기기의 성능 및 소프트웨어 알고리즘의 한계로 인해 로봇은 중요한 정보를 인식하지 못하거나 잘못된 정보를 인식할 수 있고, 이로 인해 사용자 의도를 파악하지 못하거나 의도하지 않은 행위를 수행할 수 있다. 본 논문에서는 스마트폰을 이용한 로봇-사용자 협력을 제시하여 이러한 문제를 해결하고자 한다. 스마트폰은 사용자가 항상 휴대하고 있기 때문에 언제든 로봇과 협력할 수 있으며 이 기기를 통해 로봇의 인식정보를 효과적으로 표현하고 직관적인 작업 지시 인터페이스를 제공하여 로봇이 사용자 의도에 적합한 올바른 행위를 수행할 수 있게 한다.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.39-44
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• 2024

This study introduces a novel method for predicting the shape of soft catheter robots embedded with electromagnets. As an advancement in the realm of soft robotics, these catheter robots are crafted from flexible and pliable materials, ensuring enhanced safety and adaptability during interactions with human tissues. Given the pivotal role of catheters in minimally invasive surgeries (MIS), our design stands out by facilitating active control over the orientation and intensity of the inbuilt electromagnets. This ensures precise targeting and manipulation of the catheter segments. The research encompasses a comprehensive breakdown of the magnetic modeling, tracking algorithms, experimental layout, and analytical techniques. Both simulation and experimental results validate the efficacy of our method, underscoring its potential to augment accuracy in MIS and revolutionize healthcare-oriented soft robotics.

• Journal of Cadastre & Land InformatiX
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• v.53 no.1
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• pp.83-105
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• 2023

A robot-friendly building certification system was established in 2022 to accommodate the growing number of service robots introduced into buildings. However, this system primarily targeted office buildings, with limitations in applying other functional architectures. To address this problem, we developed a certification model of a robot-friendly environment to extend the existing system to apartment complexes. Using focus group interviews and the analytic hierarchy process, we established 28 evaluating items categorized as (a) architecture and facility design, (b) networks and systems, (c) building operations management, and (d) support for robot activity and other services. These indicators were weighted based on their relative importance within and between categories, resulting in scores ranging from 1 to 18 points and a total of 176 points. According to evaluations with the 28 items, each apartment complex could be graded as "best," "excellent," or "general" based on its total achieved scores. This study is significant, as we present the world's first certification model of a robot-friendly environment for apartment complexes that considers human-robot interactions

• Journal of the Ergonomics Society of Korea
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• v.31 no.6
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• pp.715-723
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• 2012

Objective: The aim of this study is to investigate haptic perception related researches into three perspectives: cutaneous & proprioceptive sensations, active & passive touch, and cognition & emotion, then to identify issues for implementing haptic interactions. Background: Although haptic technologies had improved and become practical, more research on the method of application is still needed to actualize the multimodal interaction technology. Systematical approached to explore haptic perception is required to understand emotional experience and social message, as well as tactile feedback. Method: Content analysis were conducted to analyze trend in haptic related research. Changes in issues and topics were investigated using sensational dimensions and the different contents delivered via tactile perception. Result: The found research opportunities were haptic perception in various body segments and emotion related proprioceptive sensation. Conclusion: Once the mechanism of how users perceives haptic stimuli would help to develop effective haptic interactrion and this study provide insights of what to focus for the future of haptic interaction. Application: This research is expected to provide presence, and emotional response applied by haptic perception to fields such as human-robot, human-device, and telecommunication interaction.

• Journal of the Korea Computer Graphics Society
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• v.23 no.3
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• pp.1-8
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• 2017

In this paper, we introduce a technique to retarget human motion data to the humanoid body in a constrained environment. We assume that the given motion data includes detailed interactions such as holding the object by hand or avoiding obstacles. In addition, we assume that the humanoid joint structure is different from the human joint structure, and the shape of the surrounding environment is different from that at the time of the original motion. Under such a condition, it is also difficult to preserve the context of the interaction shown in the original motion data, if the retargeting technique that considers only the change of the body shape. Our approach is to separate the problem into two smaller problems and solve them independently. One is to retarget motion data to a new skeleton, and the other is to preserve the context of interactions. We first retarget the given human motion data to the target humanoid body ignoring the interaction with the environment. Then, we precisely deform the shape of the environmental model to match with the humanoid motion so that the original interaction is reproduced. Finally, we set spatial constraints between the humanoid body and the environmental model, and restore the environmental model to the original shape. To demonstrate the usefulness of our method, we conducted an experiment by using the Boston Dynamic's Atlas robot. We expected that out method can help the humanoid motion tracking problem in the future.

• Archives of design research
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• v.18 no.3 s.61
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• pp.85-94
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• 2005

Most of product designers use 3D CAD system as a inevitable design tool nowadays and many new products are developed through a concurrent engineering process. However, it is very difficult for novice designers to get the sense of reality from modeling objects shown in the computer screens. Such a intangibility problem comes from the lack of haptic interactions and contextual information about the real space because designers tend to do 3D modeling works only in a virtual space of 3D CAD system. To address this problem, this research investigate the possibility of a interactive quantified structure simulation for product design using AR(augmented reality) which can register a 3D CAD modeling object on the real space. We built a quantified structure simulation system based on AR and conducted a series of experiments to measure how accurately human perceive and adjust the size of virtual objects under varied experimental conditions in the AR environment. The experiment participants adjusted a virtual cube to a reference real cube within 1.3% relative error(5.3% relative StDev). The results gave the strong evidence that the participants can perceive the size of a virtual object very accurately. Furthermore, we found that it is easier to perceive the size of a virtual object in the condition of presenting plenty of real reference objects than few reference objects, and using LCD panel than HMD. We tried to apply the simulation system to identify preference characteristics for the appearance design of a home-service robot as a case study which explores the potential application of the system. There were significant variances in participants' preferred characteristics about robot appearance and that was supposed to come from the lack of typicality of robot image. Then, several characteristic groups were segmented by duster analysis. On the other hand, it was interesting finding that participants have significantly different preference characteristics between robot with arm and armless robot and there was a very strong correlation between the height of robot and arm length as a human body.

• Cartoon and Animation Studies
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• s.49
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• pp.677-696
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• 2017

Cartoons and consequently animation are an effective way of visualizing futuristic scenarios. Here we look at how animation is becoming ubiquitous and an integral part of this future today: the cybernetic and mediated society that we are being transformed into. Animation therefore becomes a form of speech between humans and this networked reality, either as an interface or as representation that gives temporal form to objects. Animation or specifically animated films usually are associated with character based short and feature films, fiction or nonfiction. However animation is not constricted to traditional cinematic formats and language, the same way that design and communication have become treated as separate fields, however according to $Vil{\acute{e}}m$ Flusser they aren't. The same premise can be applied to animation in a networked culture: Animation has become an intrinsic to design processes and products - as in motion graphics, interface design and three-dimensional visualization. Video-games, virtual reality, map based apps and social networks constitute layers of an expanded universe that embodies our network based culture. They are products of design and media disciplines that are increasingly relying on animation as a universal language suited to multi-cultural interactions carried in digital ambients. In this sense animation becomes a discourse, the same way as Roland Barthes describes myth as a type of speech. With the objective of exploring the role of animation as a design tool, the proposed research intends to develop transmedia creative visual strategies using animation both as narrative and as an user interface.