• KIPS Transactions on Software and Data Engineering
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• v.10 no.5
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• pp.179-186
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• 2021

Manipulation of complex objects with an anthropomorphic robot hand like a human hand is a challenge in the human-centric environment. In order to train the anthropomorphic robot hand which has a high degree of freedom (DoF), human demonstration augmented deep reinforcement learning policy optimization methods have been proposed. In this work, we first demonstrate augmentation of human demonstration in deep reinforcement learning (DRL) is effective for object manipulation by comparing the performance of the augmentation-free Natural Policy Gradient (NPG) and Demonstration Augmented NPG (DA-NPG). Then three DRL policy optimization methods, namely NPG, Trust Region Policy Optimization (TRPO), and Proximal Policy Optimization (PPO), have been evaluated with DA (i.e., DA-NPG, DA-TRPO, and DA-PPO) and without DA by manipulating six objects such as apple, banana, bottle, light bulb, camera, and hammer. The results show that DA-NPG achieved the average success rate of 99.33% whereas NPG only achieved 60%. In addition, DA-NPG succeeded grasping all six objects while DA-TRPO and DA-PPO failed to grasp some objects and showed unstable performances.

• Journal of the Korea Convergence Society
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• v.10 no.9
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• pp.55-61
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• 2019

The purpose of this study was to investigate the correlation between the hand dexterity and grip strength of 8-10 year elementary school children and 20-24 year college students. This study was conducted on 77 elementary school children aged 8-10 years old and 50 college students aged 20-24 years. The chopsticks manipulation test (CMT) and dymanomenter were used to evaluated hand dexterity and grip strength. In this study, the correlation between hand dexterity and grip strength, and the age, hand dexterity and grip strength of the subjects were compared. hand dexterity between 8-10 year old and 20-24 year old students were statistically different between 8 and 9 year olds, and the control was between 8 and 20-24 year old students. There were statistically significant differences. In addition, in the correlation between age, hand dexterity and grip strength, age and grip strength were positively correlated, and age and hand dexterity were negatively correlated. These results may contribute to the development of children's hand function and the fusion approach.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.200-205
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• 1993

In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.

• The Journal of the Korea Contents Association
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• v.10 no.5
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• pp.20-28
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• 2010

In this paper, we propose a hand gesture interface for the manipulation of augmented objects in 3D space using a camera. Generally a marker is used for the detection of 3D movement in 2D images. However marker based system has obvious defects since markers are always to be included in the image or we need additional equipments for controling objects, which results in reduced immersion. To overcome this problem, we replace marker by planar hand shape by estimating the hand pose. Kalman filter is for robust tracking of the hand shape. The experimental result indicates the feasibility of the proposed algorithm for hand based AR interfaces.

• Journal of the Korea Society of Computer and Information
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• v.23 no.7
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• pp.49-56
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• 2018

Virtual object weight perception is an important topic, as it heightens the believability of object manipulation in immersive virtual environments. Although weight perception can be achieved using haptic interfaces, their technical complexity makes them difficult to apply in immersive virtual environments. In this study, we present a visual pseudo-haptic feedback system that simulates and depicts the weights of virtual objects, the effect of which is weight perception. The proposed method recognizes grasping and manipulating hand motions using computer vision-based tracking methods, visualizing a Force Arrow to indicate the current lifting forces and its difference from the standard lifting force. With the proposed Force Arrow method, a user can more accurately perceive the logical and unidirectional weight and therefore control the force used to lift a virtual object. In this paper, we investigate the potential of the proposed method in discriminating between different weights of virtual objects.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• Journal of the Korea Computer Graphics Society
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• v.30 no.3
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• pp.43-49
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• 2024

Hand tracking is currently one of the most promising technologies in XR with the release of extended reality (XR) devices, in which hand tracking is used as the main manipulation. Hand tracking offers advantages in terms of immersion and realism, and as a result, it is being employed in a range of fields, including education, business, and medical care. The archery movement requires using both hands at the same time, but requires sophistication to hit the target and is a movement that has cultural and sports significance in the past. This study aimed to implement this archery movement. Therefore, this paper used the XR Hands package provided by Unity to recognize hand movements, explored the underlying OpenXR, and finally implemented the archery movement and tested it in Meta Quest 2.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2000.04a
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• pp.109-112
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• 2000

The purpose of the present study is to evaluate the basic upper-limb involved in products manipulation. Upper-limb muscular deformations and electromyography (EMG) measurements are used as indexes for estimated motion: hand opening and closing, wrist extending and flexing, pronation and supination, grasping conditions. Measured values are analyzed by multivariate analysis and a regression equation is obtained for estimating the characteristics of upper-limb performance. Muscular deformation is defined as a change in shape, such as a pressure changes when the hand or wrist moves. hand opening and closing can be discriminated at a higher percentage of accuracy by muscular deformation data than by EMG data. Muscular deformation measurements using air-pack pressure sensors were verified to be effective in motion estimation applications.

• Korean Journal of Human Ecology
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• v.15 no.3
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• pp.457-467
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• 2006

The following research compares two mostly-used apparel systems that are used in colleges of Korea, Gerber and PAD, by analyzing advantages and disadvantages of their Dart, Tuck and Pleats-related functions in pattern construction process. The results are the following: First, regarding transformation methods, Gerber system was able to use pivot method, while PAD system was able to use both pivot and slash method. As for movement, distribution, synthesis, folding, producing additional Dart function, the PAD system was not able to synthesize more than two Darts, and only showed differences for other functions. On the other hand, the diamond-shape Dart and diagonal Dart can be produced only in PAD system, while none of curvy shaped Dart can be produced in both systems. Second, as for pattern outer line connection capability, which is a Dart automatic transformation function, both systems showed unnatural shapes and need for correction. Third, when constructing according to the type of Tuck, we could distribute multiple Darts at a time with PAD system, while with Gerber system, distribution into multiple Darts at a time was impossible at all. Fourth, when constructing according to the contour of Pleats, Gerber system made it possible to make construction of multiple lines and box/inverted Pleats with just one order, but PAD system required repetitive tasks, which remains room for enhancement in regard to such inefficiency.