• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.11
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• pp.4968-4974
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• 2012

A haptic device is regarded as the human machine interface technology for easier, more accurate, and intuitive operation. The purpose of this paper is to study how to improve the cognitive ability of the existing vehicle haptic device used only tactile feedback. In this study, usability evaluation used the multi-sensory feedback which is adding auditory feedback to the existing tactile feedback. The emotional factor that drivers have on the haptic device is extracted by the sensibility analysis. The result of study provides some consideration and direction to need in implementation of a haptic device and it also confirms their possibility meaningfully. And it is possible to suggest the design direction that satisfies the driver.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.25 no.6
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• pp.12-16
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• 2002

Virtual reality (VR) opened the possibility of moving beyond the 2-D world of conventional desktop systems to an immersive, multi-sensory environment generated by computer graphics. Haptic feedback (Haptics) is now starting to get recognition and use in intensive applications for manipulation, while smell and taste feedback are at the stage of early research. This paper reviews some current works on increased haptic feedback augmentation in virtual reality applications.

• Journal of the Korea Computer Graphics Society
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• v.13 no.2
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• pp.23-29
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• 2007

We are suggesting an authoring tool can be used for prototyping in the augmented reality based product design environment. This tool is for authors without an engineering background to use. Our authoring tool can adjust the properties of visual, sound, and haptic feedback at the same time for more practical prototyping. Also the proposed modulated architecture can be applied flexibly to changes of platforms or hardware. Also user interfaces can be dynamically updated by changing just description files. finally, the suggested authoring methods exploit the advantages of both graphical and tangible user interfaces. Authors can intuitively make adjustments to many parameters using the TUI, and then they can do the same thing precisely using the GVI. The proposed authoring methods can be used for exhibition and entertainment contents using multi-sensory feedback in AR environment. As a future work, qualitative and quantitative usability test will be conducted.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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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

• Advances in robotics research
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• v.1 no.2
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• pp.155-169
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• 2014

Study results in the last decades show that amount and quality of physical exercises, then the active participation, and now the cognitive involvement of patient in rehabilitation training are known of crux to enhance recovery outcome of motor dysfunction patients after stroke. Rehabilitation robots mainly have been developing along this direction to satisfy requirements of recovery therapy, or focusing on one or more of the above three points. Therefore, neuro-machine interaction based active rehabilitation robot has been proposed for assisting paralyzed limb performing designed tasks, which utilizes motor related EEG, UCSDI (Ultrasound Current Source Density Imaging), EMG for rehabilitation robot control and feeds back the multi-sensory interaction information such as visual, auditory, force, haptic sensation to the patient simultaneously. This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients. In order to develop such kind of robot, some key technologies such as noninvasive precise detection of neural signal and realistic sensation feedback need to be solved. There are still some grand challenges in solving the fundamental questions to develop and optimize such kind of neuro-machine interaction based active rehabilitation robot.

• 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 Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Journal of Internet Computing and Services
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• v.25 no.1
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• pp.9-15
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• 2024

As virtual reality technology became popular, a high demand emerged for natural and efficient interaction with the virtual environment. Mid-air manipulation is one of the solutions to such needs, letting a user manipulate a virtual object in a 3D virtual space. In this paper, we focus on manipulating a remote virtual object while visually displaying the object and providing tactile information on the object's weight. We developed two types of wearable interfaces that can provide cutaneous or vibrotactile feedback on the virtual object weight to the user's fingertips. Human perception of the remote virtual object weight during manipulation was evaluated by conducting a psychophysics experiment. The results indicate a significant effect of haptic feedback on the perceived weight of the virtual object during manipulation.

• PNF and Movement
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• v.20 no.2
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• pp.157-166
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• 2022

Purpose: The aim of this research was to investigate the effects of self-sit-to-stand training on balance ability and sit-to-stand ability in hemiplegic stroke patients using a multisensory feedback device. Methods: A total of 19 stroke patients participated in this study, and they were divided into two groups: 10 underwent self-sit-to-stand training using a multisensory feedback device, and 9 underwent sit-to-stand training with a physical therapist. In both groups, sit-to-stand training was performed for 30 min, 3 times a week, for 6 weeks. The subjects also underwent physical therapy twice a day for 30 min, 10 times a week, for a total of 60 sessions. Balance ability was evaluated using the AFA-50 and Berg Balance Scale. Sit-to-stand ability was evaluated using the five times sit-to-stand test. Results: Sway length, pressure, and total pressure all significantly increased in both groups, and there was no difference between the two groups. The Berg Balance Scale results showed that balance ability significantly increased in both groups, and there was no difference between the two groups. The five times sit-to-stand test results showed that sit-to-stand ability significantly increased in both groups, and there was no difference between the two groups. It was found that the self-sit-to-stand training using a multisensory feedback device had a positive effect on balance control and sit-to-stand ability. When the two groups were compared, no difference in balance ability or sit-to-stand ability was observed. Conclusion: The findings of this study indicate that self-sit-to-stand training using a multisensory feedback device is as effective as sit-to-stand training with a physical therapist. Hence, self-sit-to-stand training using a multisensory feedback device could be an effective home-based exercise protocol for hemiplegic stroke patients to improve their balance and sit-to-stand abilities.