• 대한인간공학회지
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• 제17권1호
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• pp.11-22
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• 1998

When grasping a movable object or making an object move, humans feel kinesthetic sense. The kinesthetic sense is the human sense that the human feels in response to the motion acted on him. The objective of the paper is to transform the kinesthetic sense associated with the human arm into the quantified data that are useful from the engineering viewpoint. A 2-dimensional motion generator composed of two linear motors was developed to provide various motion patterns. It can change its stiffness and damping values on the real-time basis by properly regulating the force generated by the linear motors. Based on Taguchi method, the most dominant factors to affect the kinesthetic sense were investigated. Also, a reference function adequate to quantify the kinesthetic sense was found. Based on this function, the effects of changes in stiffness and damping on the kinesthetic sense were investigated. Various tests show that the damping is a more dominant factor than the stiffness in forming the kinesthetic sense.

• 한국정밀공학회지
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• 제17권2호
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• pp.227-234
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• 2000

The human sensibility caused by the motion of an object grasped by a human operator is defined as kinesthetic sense of arm. Due to nonlinearity and ambiguity of human sense, there is no absolute standard for quantification of kinesthetic sense. In this research, a so-called 2-dimensional arm motion generator is developed to present various mechanical impedance (i.e., stiffness or damping) characteristics to a human arm. The kinesthetic words representing arm kinesthetic sense are selected and then the subject's satisfaction levels on these words for given impedance values are measured and processed by the SD method and factor analysis. In addition, the quantification method using neural network is proposed to take into account the individual difference between the mean sensibility and each subject's sensibility. Through this proposed algorithm, the sensibility of human motion described qualitatively can be converted into engineering data ensuring objectivity, reproducibility, and universality.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 추계학술대회논문집
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• pp.359-365
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• 1997

When grasping a movable object or making an object move, humans feel kinesthetic sense. Kinesthetic sense is the human sense that the human feels in response to the motion acted on the human. The objecive of the paper is tranforming the kinesthetic sense to quantitized data that is useful from the viewpoint of engineering. To provide various motion patterns, 2-dimensional motion generator was built using 2-axis linear motors. Active stiffness and active damping were implemented by means of current control and force feedback techniques. Based on Taguchi method, the most dominant factors to affect kinesthetic sense were investigated. Also, some functions adequate to quantize the kinesthetic sense were found.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.656-664
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• 2016

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1553-1558
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• 2003

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.451-456
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• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• 대한물리의학회지
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• 제5권4호
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• pp.517-525
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• 2010

Purpose : This study aimed to compare the effect of two conditions (visual and kinesthetic) of motor imagery training on static and dynamic balance. Methods : Fifteen patients with post-stroke hemiparesis volunteered to participate in this study. Two motor imagery training conditions, for 10minute trials, employed with audiotape instructions. Measurements were performed at pretest, posttest and 1-hour follow up in both static and dynamic balance. Results : Measures were significantly different both static and dynamic balance tests between treatment conditions (kinesthetic imagery more than visual imagery) at the pretest, post test, and 1-hour follow-up (p<.05). Measures of both static and dynamic balance tests, for both conditions, improved significantly from pretest to posttest (p<.05), and was maintained at 1-hour follow up. Conclusion : This study showed that both imagery training applications were effective treatment strategies for both static and dynamic balance. When comparing the two treatment conditions, kinesthetic motor imagery training was more effective than the visual motor imagery training in static and dynamic balance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1708-1713
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• 1997

In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 1999년도 추계학술대회 논문집
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• pp.97-100
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• 1999

Human feels kinesthetic sense in response to the force acted on him. In order to represent kinesthetic sense, a force is analyzed as mechanical impedance (i.e., stiffness or damping) and implemented by active impedance control. In this research, a 3-dimensional arm motion generator is developed to present various mechanical impedance characteristics to an operator. An introduction of virtual reality provides not only a visual effect in virtual environment but also the change in force synchronized with the visual effect in real time.

• 한국콘텐츠학회논문지
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• 제10권10호
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• pp.440-450
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• 2010

본 연구는 2009년 7월부터 2010년 2월까지 실시된 부산대학교 체육영재센터의 체육영재양성 사업에 참가한 스포츠심리 분야의 현장사례 연구이다. 부산대 체육영재센터는 부산 울산 경남의 초등학교 1,2,3 학년 중 남 여 구분없이 학교장의 추천을 받아 3차에 걸친 운동능력 검사와 운동적합률 검사를 통해 60명(육상:40명, 수영:10명, 체조: 10명)의 체육영재를 선발하여 운영하였다. 하계 및 동계 캠프와 매주 토요일을 활용하여 종목별 전문훈련을 진행하였다. 스포츠 심리학 분야에서는 몇 가지 실험적인 현장적용을 시도하였고, 다음과 같은 시사점을 얻을 수 있었다. 첫째, 초등학교 저학년들의 경우에는 보충설명을 제공하면 검사지를 통한 심리측정이 가능하고, 3학년의 경우는 추가 설명이 없어도 충분히 실시할 수 있었다. 둘째, 다중지능검사는 체육영재들의 지능을 검사하는 방법으로 유용하며, 심리상담 기초자료로써 효휼성이 높았다. 셋째, 체육영재들의 성격은 대체로 외향적이면서 직관과 감정을 선호하는 것으로 제시되었다. 넷째, FAIR 집중력 검사에서는 사후 측정 시 유의하게 향상된 것으로 제시되어, 체육영재 프로그램이 주의 집중력을 높이는데 긍정적으로 작용하였다. 다섯째, 자체 개발한 체육과제 집착력 검사지와 체육활동 자기관리 검사지는 추가적인 타당도와 신뢰도 검사과정을 거친다면 공식적인 심리측정 도구로 활용될 수 있다는 가능성을 발견하였다.