• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Physical Therapy Rehabilitation Science
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• v.6 no.4
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• pp.189-195
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• 2017

Objective: The purpose of this study was to examine the effects of real-time visual feedback weight shift training during golf swinging on golf performance. Design: Repeated-measures crossover design. Methods: Twenty-sixth amateur golfers were enrolled and randomly divided into two groups: The golf swing training with real-time feedback on weight shift (experimental group) swing training on the Wii balance board (WBB) by viewing the center of pressure (COP) trajectory on the WBB. All participants were assigned to the experimental group and the control group. The general golf swing training group (control group) performed on the ground. The golf performance was measured using a high-speed 3-dimensional camera sensor which analyses the shot distance, ball velocity, vertical launch angle, horizontal launch angle, back spin velocity and side spin velocity. The COP trajectory was assessed during 10 practice sessions and the mean was used. The golf performance measurement was repeated three times and its mean value was used. The assessment and training were performed at 24-hour intervals. Results: After training sessions, the change in shot distance, ball velocity, and horizontal launch angle pre- and post-training were significantly different when using the driver and iron clubs in the experimental group (p<0.05). The interaction time${\times}$group and time${\times}$club were not significant for all variables. Conclusions: In this study, real-time feedback training using real-time feedback on weight shifting improves golf shot distance and accuracy, which will be effective in increasing golf performance. In addition, it can be used as an index for golf player ability.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2995-2997
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• 1999

Recently, real-time visual tracking control for a robot manipulator is performed by using a vision feedback sensor information. In this paper, the optical flow is computed based on the eye-in-hand robot configuration. The image jacobian is employed to calculate the rotation and translation velocity of a 3D moving object. LQG visual controller generates the real-time visual trajectory. In order to improving the visual tracking performance. VSC controller is employed to control the robot manipulator. Simulation results show a better visual tracking performance than other method.

• The Journal of Information Systems
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• v.23 no.2
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• pp.91-107
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• 2014

In computer-mediated idea generation where contributions can be anonymous, the ability to accurately monitor performances is limited, inducing social loafing. Prior research has suggested that social loafing is likely an important factor in reducing task performance. Researchers have theorized that loafing could be minimized if clear performance feedback is provided. Our prior study evidences a substantial performance gain by the provision of real time performance information about who is contributing and who is not. However, our prior study incorporated the quantity feedback only to create a larger pool of ideas based on the long-standing assumption (i.e., quantity breeds quality), not considering the quality feedback. As a result, taking advantage of anonymity in the form of pseudonymity, individuals in almost all groups exhibited a tendency of self-presentation by capitalizing on ideas of which quality was low and even frivolous (i.e., junk comments) toward the later stages of the session. Thus, we have learned that the quantity performance feedback alone does not have enough restrictiveness to consistently control the performance behavior throughout the session. Since a process chart allows participants to monitor process variation by comparing new performance data to past performance data, we incorporated real-time visual process performance feedback to reveal performance histories by connecting the sequence of idea quality scores in a time-series format. Using this environment, a laboratory experiment was conducted with five-member groups that examined the influence of both identifiability (i.e., anonymity versus pseudonymity) and process performance feedback (i.e., yes or no) in a $2{\times}2$ factorial design. The result showed that groups in the process performance feedback treatment outperformed groups in the no feedback treatment. Additionally, process performance feedback and identifiability interacted such that groups in the process performance feedback/pseudonymity treatment had the highest performance. The implications of these findings for future research, as well as the implications for the design of group idea generation procedures are discussed.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.7
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• pp.250-257
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• 1999

Driving simulators are used effectively for human factor study, vehicle system development and other purposes by enabling to reproduce actural driving conditions in a safe and tightly controlled enviornment. Interactive simulation requries appropriate sensory and stimulus cuing to the driver . Sensory and stimulus feedback can include visual , auditory, motion, and proprioceptive cues. A fixed-base driving simulator has been developed in this study for vehicle system developmnet and human factor study . The simulator consists of improved and synergistic subsystems (a real-time vehicle simulation system, a visual/audio system and a control force loading system) based on the motion -base simulator, KMU DS-Ⅰ developed for design and evaluation of a full-scale driving simulator and for driver-vehicle interaction.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.197-205
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• 2013

This paper presents a robotic system that provides telepresence to the visually impaired by combining real-time haptic rendering with multi-modal interaction. A virtual-proxy based haptic rendering process using a RGB-D sensor is developed and integrated into a unified framework for control and feedback for the telepresence robot. We discuss the challenging problem of presenting environmental perception to a user with visual impairments and our solution for multi-modal interaction. We also explain the experimental design and protocols, and results with human subjects with and without visual impairments. Discussion on the performance of our system and our future goals are presented toward the end.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.2
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• pp.53-62
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• 2022

PURPOSE: This study was conducted to investigate the effect of a real-time pressure feedback provided during gait training on the weight weight distribution of the inner part of mid-foot in paralyzed side and gait function in stroke patients. METHODS: A total of 24 patients with hemiplegic stroke in a rehabilitation hospital were randomly assigned to the experimental and control group. All participants (n = 24) performed 15 min of comprehensive rehabilitation therapy 5 times a week for a period of 4 weeks. Additionally, the experimental group and control group underwent gait training with a real time feedback and general gait training, respectively, for 15 min five times a week for 4 weeks. Weight distribution and gait function were measured before and after the 4-week training. RESULTS: Significant increases in the weight distribution (WD), stance time (ST) and step length (SL) of the paralyzed side, and a significant decrease in the 10 m walking test (10 MWT) observed after training in the two groups (p < .05). The experimental group showed larger changes in the all variables than the control group (WD, +10.5 kg vs. +8.8 kg, p < .05; ST, 12.8 s vs. 4.9 s, p < .05; SL, 4.9 cm vs. 1.7 cm, p < .05; 10 MWT, -3.5 s vs. -1.0 s, p < .05, respectively). CONCLUSION: Gait training with a real-time feedback might be effective in improving the normalization of weight bearing of the paralyzed lower extremity and gait function of stroke patients, and be considered to be a more effective gait training for improving the abilities than the general gait training.

• The Journal of the Acoustical Society of Korea
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• v.14 no.6
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• pp.74-79
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• 1995

This paper proposes the stereo LVFC-Robot which Imitates eyes and arms of man. we derived linear approximation equation between visual space and joint space by minimum square method and then applied it to the proposed stereo LVFC-Robot. As a result of a simulation, its efficency is verified. Compared with the stereo VFC, the stereo LVFC Robot don't need the Image Jacobian and the Robot Jacobian. Thus it is possible to control Robot in real time.

• Korean Journal of Computational Design and Engineering
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• v.9 no.3
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• pp.212-219
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• 2004

This paper presents the visualization method of the KAIST interactive bicycle simulator. The simulator consists of two bicycles of 6 DOF and 4 DOF platforms, force feedback handlebars and pedal resistance systems to generate motion feelings; a real-time visual simulator, a HMD and a beam projection system; and a 3D sound system. The system has an integrating control network with the server-client network structure for multiple simulators. The visual simulator generates dynamic images in real-time while communicating with other modules of the simulator. The operator of the simulator can have realistic visual experience of riding on a velodrome or through the KAIST campus, while being able to watch the other bicycle with an avatar.