• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1994-1999
• /
• 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.

• 한국산학기술학회논문지
• /
• 제13권11호
• /
• pp.4968-4974
• /
• 2012

햅틱 장치는 기존 장치대비 보다 편리하고 정확하며 직관적 조작이 가능한 인간-기계 교류 장치이다. 본 논문의 목적은 기존의 촉각 피드백만을 이용한 차량용 햅틱 장치의 인지능력을 향상 시키는 방법에 대하여 연구하는 것이다. 본 연구에서는 기존의 촉각 피드백만을 이용한 차량용 햅틱 장치에 청각 피드백을 더한 다감각 피드백을 이용하여 사용성 평가를 실시하였다. 감성 분석을 통해서는 운전자가 갖는 햅틱 장치에 대한 감성분석을 도출하였다. 연구결과들로부터 햅틱 장치의 구현에 필요한 몇 가지 고려사항과 방향을 제공하고 발전 가능성을 확인할 수 있었다. 또한 운전자를 만족시키는 설계 방향의 제안이 가능하였다.

• 산업경영시스템학회지
• /
• 제25권6호
• /
• pp.12-16
• /
• 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.

• 한국컴퓨터그래픽스학회논문지
• /
• 제13권2호
• /
• pp.23-29
• /
• 2007

본 논문은 증강현실 기반 제품 디자인환경에서 전자 제품의 프로토타이핑 (prototyping)을 제작을 위한 저작 도구를 제안한다. 이 저작도구는 하드웨어에 관한 전문적인 지식이 없는 일반 저작자를 위한 것이다. 제안된 저작도구는 시/청/촉각 피드백 각각에 대한 저작을 동일 플랫폼에서 할 수 있는 환경을 제공하여 실질적인 제품 디자인이 가능하게 한다. 뿐만 아니라 모듈 각각에 대한 추상화된 속성 명시파일을 통해 사용자 인터페이스 재구성이 가능하여 특정 플랫폼에 독립적 구조가 가능하고 잦은 하드웨어 변경에 유연하게 대처할 수 있도록 한다. 마지막으로 제안된 사용자 인터페이스는 GUI 및 TUI 기반 저작 방법의 장점을 취합하여 GUI를 이용한 정밀한 조작과 TUI를 이용한 직관적인 저작이 가능하도록 한다. 제안된 저작 방법들은 전자 제품 프로토타이핑 저작뿐만 아니라 다감각 피드백을 사용할 수 있는 전시, 에듀테인먼트 콘텐츠와 같은 증강현실 응용프로그램의 저작의 경우에도 응용될 수 있다. 향후 연구로써 제안된 저작도구의 정량/정성적인 사용성 평가가 수행되어야 한다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.492-495
• /
• 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
• /
• 제1권2호
• /
• pp.155-169
• /
• 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.

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

• 제어로봇시스템학회논문지
• /
• 제18권3호
• /
• pp.258-266
• /
• 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.

• 인터넷정보학회논문지
• /
• 제25권1호
• /
• pp.9-15
• /
• 2024

가상현실 기술의 대중화에 따라 가상환경과 사용자 간의 자연스럽고 효율적인 상호작용에 대한 수요가 높아지고 있다. 이러한 수요에 대응하는 솔루션 중 하나인 공중 조작(mid-air manipulation)은 사용자가 객체와 접촉하지 않은 상태에서 3차원 공간의 가상객체를 조작할 수 있도록 한다. 본 논문에서는 시각적으로 객체를 표현하고 객체의 무게에 대한 촉감 정보를 제공하면서 원격의 가상객체를 조작하는 데 초점을 맞췄다. 본 연구진은 사용자 손끝에 가상객체 무게에 대한 촉감 또는 진동 촉감 피드백을 제공할 수 있는 두 가지 유형의 착용 가능한 인터페이스를 개발했다. 가상객체 조작 중에 원격 객체 무게에 대한 지각을 평가하기 위해 인지 실험을 수행했다. 실험 결과는 촉감 정보 전달이 원격 가상객체 조작 중 무게 인지에 유의한 영향을 미친다는 것을 나타낸다.

• PNF and Movement
• /
• 제20권2호
• /
• pp.157-166
• /
• 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.