• 감성과학
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• 제24권4호
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• pp.129-138
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• 2021

본 연구의 목적은 본 연구에서는 탄소나노튜브 기반의 신축성 직물 센서의 모양과 의복 상 부착 위치가 아동의 사지 관절 동작 센싱 성능에 미치는 영향을 분석하고, 이를 통해 아동의 사지 동작 센싱에 적합한 직물 동작 센서의 요건을 규명하고자 하였다. 실험 대상 아동에게 2종의 센서 모양과 2개의 센서 부착 위치에 따라 조작된 실험복을 착의시킨 후 60 deg/sec의 속도로, 팔과 다리의 굽힘-폄 동작(60°, 90°의 동작 각도별로 10회씩 3회 반복 동작, 총 60회 동작)에 의한 직물 센서의 신장과 수축에 따른 전압의 변화량을 측정하였으며, 가속도 센서를 함께 부착하여, 센싱 결과의 일치도를 분석함으로써 신뢰도를 검증하였다. 실험 결과 아동의 팔과 다리 동작을 가장 효율적으로 측정할 수 있는 직물 센서의 구성 요건은 장방형 모양 센서 및 관절로부터 4cm 아래 부위에 부착된 센서로 나타났다. 본 연구에서는 아동의 사지 동작 측정에 적합한 직물 센서를 개발하고 관절동작 센싱에 적합한 센서의 모양과 의복 상 부착 위치에 대한 조건을 분석하였으며, 의복에 통합된 유연한 직물 센서를 활용하여 인체 부위별 동작 센싱이 가능하다는 것을 규명하였다.

• 한국정밀공학회지
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• 제32권4호
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• pp.377-386
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• 2015

Joint force/torque estimation by inverse dynamics is a traditional tool in biomechanical studies. Conventionally for this, kinematic data of human body is obtained by motion capture cameras, of which the bulkiness and occlusion problem make it hard to capture a broad range of movement. As an alternative, inertial motion sensing using cheap and small inertial sensors has been studied recently. In this research, the performance of inertial motion sensing especially to calculate inverse dynamics is studied. Kinematic data from inertial motion sensors is used to calculate ground reaction force (GRF), which is compared to the force plate readings (ground truth) and additionally to the estimation result from optical method. The GRF estimation result showed high correlation and low normalized RMSE(R=0.93, normalized RMSE<0.02 of body weight), which performed even better than conventional optical method. This result guarantees enough accuracy of inertial motion sensing to be used in inverse dynamics analysis.

• 한국정보통신학회논문지
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• 제16권4호
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• pp.872-878
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• 2012

본 논문은 사람 팔의 움직임 감지 시스템을 제안한다. 기존의 모션측정 장비들은 고가이거나 혹은 특수한 장소가 따로 필요하였다. 또한 측정한 데이터들을 필요한 데이터로 변환하는 추가적인 시간도 필요하였다. 본 논문에서는 사람이 입을 수 있으며 가격이 매우 저렴하고 추가적인 데이터 변환이 필요 없는 시스템을 개발 하였다.

• ETRI Journal
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• 제35권2호
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• pp.356-359
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• 2013

We present a method for tracking and interaction based on hybrid sensing for virtual environments. The proposed method is applied to motion tracking of whole areas, including the user's occlusion space, for a high-precision interaction. For real-time motion tracking surrounding a user, we estimate each joint position in the human body using a combination of a depth sensor and a wand-type physical user interface, which is necessary to convert gyroscope and acceleration values into positional data. Additionally, we construct virtual contents and evaluate the validity of results related to hybrid sensing-based whole-body tracking of human motion methods used to compensate for the occluded areas.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 춘계학술대회논문집
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• pp.281-285
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• 1997

We developed the system which could trace the hand and arm motion to test the product usability by integrating a wired-glove and a magnetic position sensing system. The magnetic position sensing system traces the position and orientation of the arm while the sired-glove measures 18 phal angeal joint angles. A case study was performed on two different camcorders in weight. The heavier camcorder was more stable than the lighter one. Also the recording task is more stable than the zoom-in and zoom-out tasks. This system could be used to monitor and quantify the hand and arm motion in real time and also could be used to test the product usability where the hand motion is important.

• 감성과학
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• 제14권2호
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• pp.221-226
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• 2011

인체의 동작 센싱 방법에 대한 연구가 다양하게 진행되어 왔으나, 기존의 동작 센싱 방식에는 많은 한계점들이 있다. 기존의 동작 센싱 방식의 한계점을 보완하기 위한 일환의 노력으로, 이 논문에서는 비구속적인 동작 센싱이 가능한 광섬유 기반 의류 소매형 동작센서를 탐색적으로 연구하는데 목표를 두었다. 이 논문에서는 광섬유 기반의 의류 소매형 동작 센서를 고안하고, 이를 통하여 일상생활 중에 다양한 동작을 센싱하는 것이 가능한가에 대하여 탐색적 연구를 수행하였다. 또한 본 연구의 범위는 광섬유 기반 동작센서의 가능성 여부와 주요 요건을 탐색하는 것이며, 소매 패턴과 봉제 방식의 특성, 착용자의 체형 특성이 미친 영향은 연구 범위에서 제외되었다. 이러한 방식으로 의복에 적용 가능하도록 고안된 광섬유 기반 의류 소매형 동작센서는, 기존의 동작 센싱 시스템에 비하여 더욱 미세한 인체 동작 측정이 가능하며 시간 공간의 제약 없이 저 비용으로 인체 동작 측정이 가능하다는 장점을 갖는다.

• Journal of Electrical Engineering and Technology
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• 제13권5호
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• pp.2059-2066
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• 2018

This study explored the feasibility of utilizing an SWCNT-coated fabric sensor for the development of a wearable motion sensing device. The extent of variation in electric resistance of the sensor material was evaluated by varying the fiber composition of the SWCNT-coated base fabrics, attachment methods, number of layers, and sensor width and length. 32 sensors were fabricated by employing different combinations of these variables. Using a custom-built experimental jig, the amount of voltage change in a fabric sensor as a function of the length was measured as the fabric sensors underwent loading-unloading test with induced strains of 30 %, 40 %, and 50 % at a frequency of 0.5 Hz. First-step analysis revealed the following: characteristics of the strain-voltage curves of the fabric sensors confirmed that 14 out of 32 sensors were evaluated as more suitable for measuring human joint movement, as they yield stable resistance values under tension-release conditions; furthermore, significantly stable resistance values were observed at each level of strain. Secondly, we analyzed the averaged maximum, minimum, and standard deviations at various strain levels. From this analysis, it was determined that the two-layer sensor structure and welding attachment method contributed to the improvement of sensing accuracy.

• 한국기계가공학회지
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• 제13권2호
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• pp.1-7
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• 2014

Recent experimental observations support the hypothesis that mechanical stimuli play a role in regulating the specialized molecular expression of articular cartilage in vitro and in vivo. Other studies have demonstrated that the continuous passive motion(CPM)bioreactor for whole joints can provide a platform for possible future in vitro studies and applications, including possible interactions of bio-mechanical and biochemical signals. In this study, we have developed acustom-made bioreactor capable of bending and stretching with circular type motion, and a biomimetic knee joint model, using a 3D printer. This system could be used to investigate the effects of rehabilitative joint motion of dynamic culture.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 대한기계학회논문집A
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• 제29권4호
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• pp.540-554
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• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.