• 대한기계학회논문집A
• /
• 제29권4호
• /
• pp.540-554
• /
• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.158-163
• /
• 2001

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in micro/nano world. This paper presents a micro manipulation system based on the teleoperation techniques which enables the operators to manipulate the objects with ease by transferring both human motion and manipulation skill to a micromanipulator. An experimental setup consisting of a micromanipulator operated under stereo-microscope with the help of intelligent user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micro manipulation system and control strategies using teleoperation techniques for handling micro objects are presented. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.

• 대한조선학회논문집
• /
• 제30권2호
• /
• pp.1-12
• /
• 1993

CAD, CAE, CAM, Database, Expert System등 다종의 응용프로그램으로 구성된 CIM 환경에서 Product Model의 역할은 Data 공유를 통한 System Integration이다. 이를 위하여 Product Model은 생산 활동에 포함되는 모든 정보를 관리한다. 이러한 정보의 종류에는 형상정보, 공정정보, 일정정보, 품질정보, 그리고 기존의 관리정보가 포함된다. Product Model의 Architecture에는 Product Model Kernel, Object Schema, 모델조작언어, 그리고 사용자 인터페이스 등이 있다. Product Model 을 통하여 공유될 객체들은 모델조작언어를 통하여 정의되고 그 정의는 Object Schema에 저장된다. 본 논문에서는 Product Model의 설계와 CAPP(Computer Aided Process Planning)프로그램을 통한 프로토타입의 구현을 설명한다.

• KIEE International Transactions on Power Engineering
• /
• 제2A권4호
• /
• pp.145-152
• /
• 2002

This paper illustrates applications of the Component Object Model (COM) for power system software developments. As an integral part of Microsoft's component services, COM has gained increased popularity for developing enterprise applications. This paper illustrates the concepts of COM and the latest developments as well as the available tools for developing COM components. Possible COM applications for developing power system software, such as sparse matrix manipulation, fault location, genetic algorithm applications, and so on. are presented. Advantages and promises brought about by COM are manifested through these examples.

• International Journal of Control, Automation, and Systems
• /
• 제4권2호
• /
• pp.217-226
• /
• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2005년도 추계종합학술대회
• /
• pp.553-556
• /
• 2005

We present a vision-based hand gesture recognition system for object manipulation in virtual space. Most conventional hand gesture recognition systems utilize a simpler method for hand detection such as background subtractions with assumed static observation conditions and those methods are not robust against camera motions, illumination changes, and so on. Therefore, we propose a statistical method to recognize and detect hand regions in images using geometrical structures. Also, Our hand tracking system employs multiple cameras to reduce occlusion problems and non-synchronous multiple observations enhance system scalability. Experimental results show the effectiveness of our method.

• International Journal of Advanced Culture Technology
• /
• 제8권3호
• /
• pp.166-171
• /
• 2020

The purpose of this study to discover what effect the mathematics education program linked to outdoor movement activities have on the ability to manipulate objects. The subject of study was a kindergarten class. The experimental and comparative groups consisted of 20 people each. In order to verify the effect of applying the early childhood mathematics education program in connection with outdoor movement activities, a total of 15 weeks of program was conducted for young children. As a result of conducting this study, it was found that a mathematics education program linked to outdoor movement activities improves the ability to manipulate objects. The discussion based on the results of this study is as follows. First, we suggest to specific activities that can be performed in an outdoor environment should be developed and applied to the field of early childhood education. Second, we suggest that It is necessary to program various subjects that link to outdoor movement activities. Third, we suggest what various measures are needed to improve the young children's ability to manipulate objects.

• 음성과학
• /
• 제15권2호
• /
• pp.119-129
• /
• 2008

The purpose of this study were to develop short form versions of MacArthur-Bates Communicative Development Inventories - Korean and to discuss clinical implications. Two short versions were developed: one for $9\sim17$ month-olds(including 69 words and 17 object manipulation skills) and the other for $18\sim35$ month-olds (including 128 words and 5 grammatical items). Short versions seemed to be representative of full versions and showed developmental validity. Short versions showed concomitant validity with SELSI which is a standardized test for Korean children under 37 month-olds. Norm tables for words and criteria for object manipulation and grammaticality are also provided. M-B CDI-K short versions could be used as a preliminary screening tool to identify Korean children with language impairment economically and efficiently. Cautions using short versions of M-B CDI-K are discussed.

• 대한물리치료과학회지
• /
• 제9권4호
• /
• pp.155-168
• /
• 2002

The purpose of study to know hand function in order to prevent disability or handicap. The ability to perform precise refined movements of hand is an important human function. Improvement in object manipulation is common goal of therapist. The ability to manipulate an object in the hand is need for many functional tasks, including writing, handling coins, small objects and ADL skills. Therapists have commonly used hand grip and pinch strengths as baseline measures to evaluate hand function. The patterns of grasps are precision grasp, power grasp, hook grasp, spherical grasp, sylindrical grasp, disc grasp, pinch, three point pinch and tip pinch. And the motion of in-manipulation are finger to palm translation, palm to finger, shift, simple rotation and complex rotation. The hand function are include to evaluate of ROM, sensation, muscle strength of hand. It used to evaluate of decision of effect and suppose of disability and acceptance of vocation. Good evaluation is need to pretreatment and baseline of treatment and help to evaluate of effect on treatment.

• Journal of Multimedia Information System
• /
• 제8권2호
• /
• pp.111-120
• /
• 2021

As recent virtual reality technologies provide a more natural three-dimensional interactive environment, users naturally learn to explore space and interact with synthetic objects. The virtual reality researcher develops a technique that realizes realistic sensory feedback to get appropriate feedback to sense input behavior. Although much recent virtual reality research works extensively consider the human factor, it is not easy to adapt to all new virtual environment contents. Among many human factors, distance perception has been treated as very important in virtual environment interaction accuracy. We study the experiential virtual environment with the feature of the virtual object connected with the real object. We divide the three-dimensional interaction, in which distance perception and behavior have a significant influence, into two types (whole-body movement and direct manipulation) and analyze the real and virtual visual distance perception heterogeneity phenomenon. Also, we propose a statistical correction method that can reduce a near-body movement and manipulation error when changing the interaction location and report the experiment results proving its effectiveness.