• Journal of the Institute of Electronics Engineers of Korea SD
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• v.38 no.12
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• pp.66-74
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• 2001

In this paper, we proposed the new structure of the Rake Finger using Walsh Switch, the shared accumulator, and the pipeline FWHT(Fast Walsh Hadamard Transform) algorithm for reducing the signal processing complexity resulting from the increase of the number of data correlators. The function simulation of the proposed architecture is performed by Synopsys tool and the timing simulation is performed by Compass tool. The number of computational operation in the proposed data correlators is 160 additions and the conventional ones is 512 additions when the number of walsh code channels is 4. As a result, it is reduced about 3.2 times other than the number of computational operation of the conventional ones. Also, the result shows that the data processing time of the proposed Rake Finger architecture is 90,496[ns] and the conventional ones is 110,696[ns]. It is 18.3% faster than the data processing time of the conventional Rake Finger architecture.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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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.

• Journal of Korea Multimedia Society
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• v.13 no.8
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• pp.1235-1244
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• 2010

Most emerging smart phones support capacitive touch sensors. It renders existing gesture-based interfaces not suitable since they were developed for the resistive touch sensors and pen-based input. Unlike the flick gestures from the existing gesture interfaces, the finger flick gesture used in this paper reduces the workload about half by selecting the target and the command to perform on the target at a single touch input. With the combination with multi-touch interface, it supports various menu commands without having to learn complex gestures, and is suitable for the touch-based devices hence it minimizes input error. This research designs and implements the multi-touch and flick interface to provide an effective file management system on the smart phones with capacitive touch input. The evaluation proves that the suggested interface is superior to the existing methods on the capacitive touch input devices.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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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.

• Journal of the Ergonomics Society of Korea
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• v.35 no.5
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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.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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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.

• Korean Journal of Applied Biomechanics
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• v.26 no.1
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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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• 1990.10a
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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.

• Journal of KIISE:Software and Applications
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• v.33 no.10
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• pp.886-895
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• 2006

Fingerprint classification reduces the number of matches required in automated fingerprint identification systems by categorizing fingerprints into a predefined class. Support vector machines (SVMs), widely used in pattern classification, have produced a high accuracy rate when performing fingerprint classification. In order to effectively apply SVMs to multi-class fingerprint classification systems, we propose a novel method in which SVMs are generated with the one-vs-all (OVA) scheme and dynamically ordered with $na{\ddot{i}}ve$ Bayes classifiers. More specifically, it uses representative fingerprint features such as the FingerCode, singularities and pseudo ridges to train the OVA SVMs and $na{\ddot{i}}ve$ Bayes classifiers. The proposed method has been validated on the NIST-4 database and produced a classification accuracy of 90.8% for 5-class classification. Especially, it has effectively managed tie problems usually occurred in applying OVA SVMs to multi-class classification.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.862-868
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• 2007

The planar motion of the index finger in general human hands is usually implemented by the actuation of three joints. This task requires a technique to determine the joint combination for each fingertip position which is well-known as the inverse kinematics problem in robotics. Especially, it is an essential work for grasping and manipulation tasks by robotic and humanoid fingers. In this paper, an intelligent neural learning scheme for solving such inverse kinematics is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed for fast learning. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.