• 로봇학회논문지
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• 제13권1호
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• 로봇학회논문지
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• 제8권4호
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• pp.273-282
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• 2013

The purpose of this study was to investigate effect of robot-assisted hand rehabilitation(Amadeo(R)) on hand motor function in chronic stroke patients. This study used a single-subject experimental design with multiple baselines across individuals. Three chronic stroke survivors with mild to sever motor impairment took part in study. Each participants had 2 weeks interval of starting intervention. Participants received robot-assisted therapy(45min/session. 3session/wk for 6wks). Finger active range of motion(AROM) was assessed by Range of Assessment program in Amadeo(R), and test-retest reliability was verified using Pearson correlation analysis. To investigate effect of Amadeo(R), finger AROM was measured immediately after each sessions and Fugl-Meyer Assessment of Upper extremity, Motor Activity Log, Nine hole peg board test and Jebsen-Taylor hand motor function test were assessed at pre-post intervention. Results were analyzed by visual analysis and comparison of pre-post tests. The test-retest reliability of Range of Assessment was good(r=.99). After robot-assisted therapy, finger AROM of participant 1, 2, and 3 was respectively improved by 18%, 3.6%, and 6% each. Hand motor function of participant 1, 3 was improved on all four tests, but not effect in participant 2. Robot-assisted hand rehabilitation could improve finger AROM and effect on hand motor function in chronic stroke patients.

• Corrosion Science and Technology
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• 제10권4호
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• pp.143-150
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• 2011

Copper electroplating has been applied to various fields such as decorative plating and through-hole plating. Technical realization of high strength copper preplating for wear-resistant tools and molds in addition to these applications is the aim of this work. Brighters and levelers, such as MPSA, Gelatin, Thiourea, PEG and JGB, were added in copper sulfate electrolyte, and the effects of these organic additives on the hardness were evaluated. All additives in this work were effective in increasing the hardness of copper electrodeposits. Thiourea increased the hardness up to 350 VHN, and was the most effective accelarator in sulfate electrolyte. It was shown from the X-ray diffraction analysis that preferred orientation changed from (200) to (111) with increasing concentration of organic additives. Crystallite size decreased with increasing concentration of additive. Hardness was increased with decreasing crystallite size, and this result is consistent with Hall-Petch relationship, and it was apparent that the hardening of copper electrodeposits results from the grain refining effect.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.910-914
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• 2007

In this paper, an experimental study is performed to adjust position of compliance center of Elastomer Shear Pad Remote Center Compliance (ESP RCC) device, which is used on precise peg in hole process. In the study, variation of the lateral/axial stiffness of the ESP is proposed as a control parameter to adjust the position of compliance center of the ESP RCC. The variation of the stiffness of the ESP is achieved by controlling the shear stress of the ESP. To control the shear stress of the ESP, position of top side of the ESP is changed while remaining bottom side of the ESP is fixed on the RCC plate. To evaluate effect of the proposed idea, stiffness variations of the ESP on various shear stresses are measured, and variation of the compliance center is measured with the ESP RCC that can control the position of compliance center by using the shear stress. The measured data shows unique characteristics that have not been shown in other types of ESP VRCCs.

• 한국전문물리치료학회지
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• 제14권2호
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• pp.1-10
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• 2007

The purpose of this experiment was to investigate the applicability of audio-visual modeling for improving the efficiency of rehabilitative programs by analyzing the effects of observing these various models on the capacity of stroke patients to perform upper limb activities. Twenty-one stroke patients participated in the experiment and were randomly assigned to either task modeling, sport modeling, or control group. During 2 weeks of intervention, subjects in all groups participated in the physical practice of experimental tasks. These tasks comprised of a Nine Hole Peg Test, the Jebsen-Taylor Hand Function tests, and locomotion. These tasks were performed 5 days a week, 30 min per day. In addition to the physical practice, the task modeling group observed a model performing experimental tasks and locomotive activities for 20 min, while the sport modeling group observed a model performing various sport activities for 20 min. Subjects' ability to perform the experimental tasks was measured 3 times, before, immediately after, and 1 week after the intervention. Analyses of the capacity to perform upper extremity activities displayed significant improvement from the pre-test to immediate and delayed post-tests in all groups. However, the amount of improvement was the highest in the task modeling group. The task modeling group was superior to the control group in the post-test of all experimental tasks, whereas the sport modeling group did not display significant differences from the control group. These results suggest that audio-visual modeling can be used as an effective cognitive intervention for facilitating the rehabilitation of stroke patients, and its rehabilitative effect can be maximized when the program is comprised of performance scenes directly related to the target task.

• 로봇학회논문지
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• 제19권2호
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• pp.176-187
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• 2024

Recently, automated solutions using collaborative robots have been emerging in various industries. Their primary functions include Pick & Place, Peg in the Hole, fastening and assembly, welding, and more, which are being utilized and researched in various fields. The application of these robots varies depending on the characteristics of the grippers attached to the end of the collaborative robots. To grasp a variety of objects, a gripper with a high degree of freedom is required. In this paper, we propose a service automation system using a multi-degree-of-freedom gripper, collaborative robots, and vision sensors. Assuming various products are placed at a checkout counter, we use three cameras to recognize the objects, estimate their pose, and create grasping points for grasping. The grasping points are grasped by the multi-degree-of-freedom gripper, and experiments are conducted to recognize barcodes, a key task in service automation. To recognize objects, we used a CNN (Convolutional Neural Network) based algorithm and point cloud to estimate the object's 6D pose. Using the recognized object's 6d pose information, we create grasping points for the multi-degree-of-freedom gripper and perform re-grasping in a direction that facilitates barcode scanning. The experiment was conducted with four selected objects, progressing through identification, 6D pose estimation, and grasping, recording the success and failure of barcode recognition to prove the effectiveness of the proposed system.

• 재활치료과학
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• 제5권1호
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• pp.55-65
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• 2016

목적 : 본 연구의 목적은 가정-기반 동작관찰 훈련이 뇌종양 환자의 상지기능에 미치는 영향을 알아보기 위함이다. 연구방법 : 단일사례연구 방법 중 ABA 디자인을 사용하였다. 기초선(A) 기간에 중재 없이 4회 평가를 실시하였고, 중재선(B) 기간에 총 25회의 훈련과 10회 평가를 실시하였으며 중재 후 회귀기초선(A') 기간에 중재 없이 4회 재평가를 실시하였다. 결과 : 9-홀 페그 테스트, 상자와 나무토막 검사, 뇌졸중 상지 기능검사에서 뇌종양 환자의 상지기능이 기초선과 회귀기초선(A와 A')보다 중재기(B)에 개선되었다. 세계보건기구 삶의 질 척도의 신체적 영역, 심리적 영역, 생활환경 영역에서 점수 향상이 있었다. 결론 : 본 연구 결과로 동작관찰 훈련이 뇌종양 환자에게 적용 가능한 중재 기법이고 상지 기능과 삶의 질을 향상시킨다는 것을 알 수 있었다.