• 대한전자공학회논문지SD
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• 제38권12호
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• pp.66-74
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• 2001

IMT-2000의 무선접속 기술 요소 중 multirate을 위한 Multi-Code(MC) CDMA 시스템의 이동국 Rake 수신기는 다수의 채널로 전송된 신호들을 동시에 복조해야 하므로 Rake Finger에서 트래픽 채널을 복조하는 데이터 상관기의 수가 왈쉬 코드 채널의 수만큼 증가하게 되어 신호처리의 복잡도가 증가되는 단점을 갖게 된다. 본 논문에서는 데이터 상관기들의 증가로 인한 데이터 처리시간 지연을 감소시키기 위해 Walsh Switch, 공유 accumulator, 그리고 파이프라인 FWHT(Fast Walsh Hadamard Transform) 알고리즘을 적용한 새로운 Rake Finger 구조를 제안했다. 컴퓨터 시뮬레이션 결과 왈쉬 코드 채널의 수 에 대한 데이터 상관기의 연산 동작 수는 512 additions에서 160 additions로 약 3.2배 감소하였고, Rake Finger의 데이터 처리시간은 110,696[ns]에서 90,496[ns]로 18.3% 감소하였음을 확인하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger 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 constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of 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 area-contact is 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 the 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 the object is of rectangular shape and motion is confined to a horizontal plane.

• 한국멀티미디어학회논문지
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• 제13권8호
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• pp.1235-1244
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• 2010

최근 아이폰을 필두로 급부상하는 스마트폰의 정전기식 입력 장치에서는 펜 입력장치나 감압식 입력 장치를 위해 만들어진 제스처기반 인터페이스가 적합하지 않다. 손가락 튕김 인터페이스는 기존의 제스처기반 인터페이스에서 사용했던 플릭 제스처와 달리 명령을 적용시킬 대상과 명령을 동시에 선택함으로 작업 단계를 절반으로 감소시킬 수 있다. 뿐만 아니라, 멀티터치 인터페이스와 병합하여 사용함으로 다양한 메뉴 지원이 가능하여 복잡한 제스처를 학습할 필요가 없고, 정전기식 입력 장치 장치에 사용하기 적합하여 입력 오류를 최소화 시킨다. 본 연구에서는 정전기식 입력 장치를 가지는 스마트 폰 장치에서의 파일 관리를 빠르게 해주는 다중 손가락 튕김 인터페이스를 설계하고 구현한다. 실험에서는 사용자 평가를 통해 제안하는 인터페이스가 정전기식 입력 장치에서 기존 방식보다 유용함을 증명한다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2012년도 추계학술대회
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• pp.561-563
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• 2012

In this work, tunable capacitors using a finger-type electrode are designed and characterized for frequency-agile RF circuit applications. Their top electrodes with different area and line width are designed in types of the finger for a long conducting perimeter which results in enhanced fringing-electric fields in order to improve their tunability. The tunable varactors were fabricated on a quartz substrate employing a multi-layer dielectric of a para/ferro/para-electric thin film. Compared to the conventional capacitor, finger-type capacitors are characterized in terms of effective capacitance and tunablility. Their effective capacitance and tunability with the long perimeter increase 24~40% and 7~12%, respectively, due to enhanced fringing electric fields from 1 to 2.5 GHz, compared to the conventional ones.

• 대한인간공학회지
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• 제35권5호
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• pp.361-370
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• 2016

Objective:The aim of this study is to evaluate contributions of individual finger forces associated with various levels of submaximal voluntary contraction tasks. Background: Although many researches for individual finger force have been conducted, most of the studies mainly focus on the maximal voluntary contraction. However, Information concerning individual finger forces during submaximal voluntary contraction is also very important for developing biomechanical models and for designing hand tools, work equipment, hand prostheses and robotic hands. Due to these reasons, studies on the contribution of individual finger force in submaximal grip force exertions should be fully considered. Method: A total of 60 healthy adults without any musculoskeletal disorders in the upper arms participated in this study. The young group (mean: 23.7 yrs) consisted of 30 healthy adults (15 males and 15 females), and the elderly group (mean: 75.2 yrs) was also composed of 30 participants (15 males and 15 females). A multi-Finger Force Measurement (MFFM) System developed by Kim and Kong (2008) was applied in order to measure total grip strength and individual finger forces. The participants were asked to exert a grip force attempting to minimize the difference between the target force and their exerted force for eight different target forces (5, 15, 25, 35, 45, 55, 65, and 75% MVCs). These target forces based on the maximum voluntary contraction, which were obtained from each participant, were randomly assigned in this study. Results: The contributions of middle and ring fingers to the total grip force represented an increasing trend as the target force level increased. On the other hand, the contributions of index and little fingers showed a decreasing trend as the target force level increased. In particular, Index finger exerted the largest contribution to the total grip force, followed by middle, ring and little fingers in the case of the smallest target force level (5% MVC), whereas middle finger showed the largest contribution, followed by ring, index and little fingers at the largest target force levels (65 and 75% MVCs). Conclusion: Each individual finger showed a different contribution pattern to the grip force exertion. As the target force level increase from 5 to 75% MVC, the contributions of middle and ring fingers showed an increasing trend, whereas the contributions of index and little fingers represented a decreasing trend in this study. Application: The results of this study can be useful information when designing robotic hands, hand tools and work equipment. Such information would be also useful when abnormal hand functions are evaluated.

• 한국정밀공학회지
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• 제15권12호
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• pp.142-147
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• 1998

Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

• 한국운동역학회지
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• 제26권1호
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• pp.93-99
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• 2016

Objective: The purpose of this study was to investigate the effect of transcutaneous electrical nerve stimulation (TENS) treatment on maximum voluntary force (MVF) production. Methods: Ten healthy, young subjects (5 males and 5 females) participated in the study. MVF was recorded after a fifteen minute session of TENS stimulation under two conditions: low frequency (4 Hz) at maximum tolerable level and high frequency (110 Hz) at maximum tolerable level. TENS was provided simultaneously via self-adhesive electrodes placed on the finger pads of the index, middle, ring and little fingers. MVF was also recorded in a baseline condition with no TENS treatment. Data were collected in three different sessions on three consecutive days at the sametime of the day. Results: Results from the study show that on an average, MVF increasesby 25% for the index, middle and little fingers for TENS treatment with 4 Hz frequency as compared to the baseline condition. However, the 110 Hz condition did not result in a significantly different MVF than the baseline condition during individual finger pressing tasks. In addition, while producing MVF with all the four finger stogether, MVF was 30% higher for the 4 Hz conditionin comparison to the baseline condition, and 15% higher for the 110 Hz condition in comparison to the baseline condition respectively. Conclusion: The results suggest that stimulation ofafferent fibers onthe glabrous skinwith TENS could have a net facilitatory effect on the maximum motoroutput.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.52-56
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• 1990

An algorithm is proposed to determine the optimal contact forces of robotic hands, where the soft finger contact as well as the frictional point contact are considered. Especially, the algorithm can be efficiently applied to the case of multi-point contact by inner-link as well as fingertip. To show the validities of the algorithm, several numerical exampies are presented by employing a robotics hand with three fingers each of which has four joints.

• 한국정보과학회논문지:소프트웨어및응용
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• 제33권10호
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• pp.886-895
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• 2006

지문분류는 사전에 정의된 클래스로 입력된 지문을 분류하여 자동지문인식 시스템에서 비교해야할 지문의 수를 줄여준다. 지지벡터기계(support vector machine; SVM)는 패턴인식 분야에서 널리 사용되고 있을 뿐만 아니라 지문분류에서도 높은 성능을 보이고 있다. SVM은 이진클래스 분류기이기 때문에 다중클래스 문제인 지문분류를 위해서 적절한 분류기 생성과 결합 기법이 필요하며, 본 논문에서는 일대다(one-vs-all; OVA) 방식으로 구성된 SVM을 naive Bayes(NB) 분류기를 이용하여 동적으로 구성하는 분류방법을 제안한다. 지문분류에서 대표적으로 사용되는 특징인 FingerCode와 지문의 구조적 특징인 특이점과 의사융선을 사용하여 OVA SVM과 NB 분류기를 학습하고, 포섭구조의 분류기를 구성하여 효과적인 지문분류를 수행한다. NIST-4 데이타베이스에 제안하는 방법을 적용하여 5클래스 분류에 대해서 90.8%의 높은 분류율을 획득하였으며, OVA 전략의 SVM을 다중클래스 분류문제에 적용할 때 발생하는 동점문제를 효과적으로 처리하였다.

• 한국지능시스템학회논문지
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• 제17권7호
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• pp.862-868
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• 2007

일반적으로 인간손에 있는 검지 손가락의 평면운동은 3개의 관절운동에 의해 이루어진다. 이러한 운동을 위해서는 기본적으로 역기구학 문제를 풀어야 하는데, 이것은 로봇 손을 이용한 파지나 조작행위에 있어서 필수적이다. 따라서 본 논문에서는 이러한 로봇 손가락의 역기구학 문제를 지능적으로 해결할 수 있는 뉴럴 러닝에 기반한 방법을 제안하고자 한다. 제안된 방법은 뉴럴 러닝에 있어서 동적인 학습율을 적용함으로써 보다 빠른 학습이 가능하고, 생체모방에 근거한 인간 손가락의 운동특성을 고려하는 것이 특징이다. 제안된 방법의 유용성을 입증하기 위하여 시뮬레이션을 수행한다.