• Journal of Korea Multimedia Society
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• v.15 no.6
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• pp.827-836
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• 2012

After successful advent of Microsoft's Kinect, many interactive contents that control user's 3D avatar motions in realtime have been created. However, due to the Kinect's intrinsic IR projection problem, users are restricted to face the sensor directly forward and to perform all motions in a standing-still position. These constraints are main reasons that make it almost impossible for the 3D character to navigate the virtual environment, which is one of the most required functionalities in games. This paper proposes a new method that makes 3D character navigate the virtual environment with highly realistic motions. First, in order to find out the user's intention of navigating the virtual environment, the method recognizes walking-in-place motion. Second, the algorithm applies the motion splicing technique which segments the upper and the lower motions of character automatically and then switches the lower motion with pre-processed motion capture data naturally. Since the proposed algorithm can synthesize realistic lower-body walking motion while using motion capture data as well as capturing upper body motion on-line puppetry manner, it allows the 3D character to navigate the virtual environment realistically.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.738-743
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• 2007

In this paper, a muscle motion sensing system and an artificial arm control system are studied. The artificial arm is for the people who lost one's forearm. The muscle motion sensing system detect the intention of motion from the upper arm's muscle. In sensing system we use flex sensors which is electrical resistance type sensor. The sensor is attached on the biceps brachii muscle and coracobrachialis muscle of the upper arm. We propose an algorithm to classify the one's intention of motions from the sensor signal. Using this algorithm, we extract the 4 motions which are flexion and extension of the forearm, pronation and supination of the arm. To verify the validity of the proposed algorithms we made experiments with two d.o.f. artificial arm. To reduce the control errors of the artificial arm we also proposed a fuzzy PID control algorithm which based on the errors and error rate.

• Asian Pacific Journal of Cancer Prevention
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• v.15 no.10
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• pp.4359-4366
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• 2014

Intention to smoke is a valid and reliable factor for predicting future smoking habits among adolescents. This factor, however, has received inadequate attention in Malaysia. The present paper elaborates the prevalence and factors associated with intent to initiate or to cease smoking, among adolescent nonsmokers and smokers in Kota Tinggi, Johor, Malaysia. A total of 2,300 secondary school students aged 13-16 years were selected through a two-stage stratified sampling method. A set of standardized questionnaires was used to assess the smoking behavior among adolescents and the inter-personal and intra-personal factors associated with smoking intention (intention to initiate smoking or to cease smoking). Multivariable logistic regression was used to identify factors related to smoking intention. The prevalence of intention to smoke in the future or to cease smoking among non-smoking adolescents and current smokers were 10.7% and 61.7% respectively. Having friends who smoke, social influence, and poor knowledge about the ill effects on health due to smoking showed significant relationships with intention to smoke in the future among non-smokers. Conversely, perceived lower prevalence of smoking among peers, weak contributory social influence, and greater awareness of the ill effects of smoking are factors associated with the intention to cease smoking sometime in the future. The study found that prevalence of intention to initiate smoking is low among non-smokers while the majority of current smokers intended to cease smoking in the future. Existing anti-smoking programmes that integrate the factors that have been identified in the current study should be put in motion to reduce the prevalence of intention to initiate smoking and increase the intention to cease smoking among adolescents.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.49-55
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• 2002

A decrease in the birthrate and aging are progressing in Japan and several countries. In that society, it is important that physically weak persons such as elderly persons are able to take care of themselves. We have been developing exoskeletal robots for human (especially for physically weak persons) motion support. In this study, the controller controls the angular position and impedance of the exoskeltal robot system using multiple fuzzy-neuro controllers based on biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. Since the activation level of working muscles tends to vary in accordance with the flexion angle of elbow, multiple fuzzy-neuro controllers are applied in the proposed method. The multiple fuzzy-neuro controllers are moderately switched in accordance with the elbow flexion angle. Because of the adaptation ability of the fuzzy-neuro controllers, the exoskeletal robot is flexible enough to deal with biological signal such as EMG. The experimental results show the effectiveness of the proposed controller.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.193-204
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• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.

• Journal of Information Technology Applications and Management
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• v.14 no.4
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• pp.61-74
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• 2007

In this paper we consider the Digital Multimedia Broadcasting (DMB) Service that starts recently in Korea and gains popularity. DMB makes it possible to watch high quality TV programs while we are in motion. The service provider or the service researcher are interested in the factors that influence the user's choice of new service such as DMB. Understanding the factors make them create the powerful marketing strategies and develop the new service or product that is attractive for users. We therefore find the factors influencing the user's choice of DMB service, and propose a model for analyzing the relationship between the factors and the intention of buying. The model is based on the Technology Acceptance Model (TAM). We extend the TAM by adding factors including functional attributes of DMB service. We survey the significant functional attributes influencing the intention of buying by using the proposed model.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.37-42
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• 2019

This paper presents an autonomous acceleration planning algorithm for pedestrian collision avoidance at urban. Various scenarios between pedestrians and a vehicle are designed to maneuver the planning algorithm. To simulate the scenarios, we analyze pedestrian's behavior and identify limitations of fusion sensors, lidar and vision camera. Acceleration is optimally determined by considering TTC (Time To Collision) and pedestrian's intention. Pedestrian's crossing intention is estimated for quick control decision to minimize full-braking situation, based on their velocity and position change. Feasibility of the proposed algorithm is verified by simulations using Carsim and Simulink, and comparisons with actual driving data.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.327-333
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• 2009

This paper describe the riding robot system named by "RideBot" which is a riding robot like as a horse. In order to simulate the riding motions, we develope the saddle mechanism which can generate 3 DOF motions including pitch, roll, and bounce movement, and also we controlled the riding motions and the intention of horseman. To generate the riding motions with the bodily sensation, we developed Novel Washout Filter and the algorithms for motion control. And also, we developed some health care service for the health care of horseman. A body state index was proposed that evaluates the personal health state from both the measured physiological variables and the surveyed questions. The physiological variables such as weight, blood pressure, heart rate variability (HRV), accelerated state photoplethysmograph(APG), body fat, and happiness index were measured by the specially designed bio-handle system and survey questions. The efficiency of the proposed ride robot is evaluated in the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.32.2-32
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• 2001

We have developed the power assistive leg called HAL (Hybrid Assistive Leg) which provide the walking aid for walking disorder persons or aged persons without nursing person. We developed HAL-3 by considering some problems of HAL-1,2 which had developed previously. The mechanism of HAL-3 actuator could be simplified and sophisticated by using the harmonic drive. As the control signal of HAL-3 EMG signal was used. We proposed a calibration method to identify parameters which relates the EMG to joint torque by using HAL-3. We could obtain suitable torque estimated by EMG and realize power assist in walking according to the intention of the operator To the remove discomfort for quick motion power assist, the feedforward controller was installed at the beginning of motion ...