• 한국정밀공학회지
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• 제24권10호
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.825-830
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• 1990

This paper reports the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degrees-of-freedom non-contact type displacement follower is used. The performance of the system is tested for different target velocities and control gains. The result of the research may provide an effective tool for visual transfer in the context of teleoperation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.238-243
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• 1998

This paper presents a new approach to visual servoing with the stereo vision. 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 fur a SCARA robot.

• 대한기계학회논문집
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• 제17권9호
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• pp.2373-2380
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• 1993

This paper addresses the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degree-of freedom non-contact type displacement follower has been employed in stead of vision camera. The performance of the designed system is tested for different target velocities and control gains. The test result shows the satisfactory performance to be adopted as an effective tool for visual transfer in the context of teleoperation.

• 한국전문물리치료학회지
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• 제23권3호
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• pp.21-28
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• 2016

Background: The toe-spread-out (TSO) exercise has been introduced as a strengthening exercise for the abductor hallucis muscle in subjects with hallux valgus. Visual biofeedback using ultrasound imaging during exercise, may increase the ability to selectively contract the abductor hallucis muscle, compared with exercise alone. Objects: The aim of this study was to investigate the effects of ultrasound imaging visual feedback during the TSO exercise with respect to its influence on the angle of the first metatarsophalangeal joint (1st MPJ) and the cross-sectional area (CSA) of the abductor hallucis muscle in subjects with hallux valgus. Methods: Twenty-five healthy young subjects with a mean average age of 22.5 years, and a standard deviation of 2.3 years, were recruited for this study. Hallux valgus was defined as an angles greater than $15^{\circ}$ angle of 1st MPJ. Goniometric measurement was used to determine the angle of 1st MPJ. In addition, an ultrasound system was used to collect the CSA of the abductor hallucis muscle in each foot. The angle of the 1st MPJ and CSA of the abductor hallucis were measured in three positions; the resting position, during TSO exercise, and during TSO exercise in conjunction with real-time ultrasound imaging feedback. All data analyzed using a repeated analysis of variance with Bonferroni correction in order to compare the dependent variables in all three positions. Statistical level of significance was set up as p<.05. Results: The angle of the 1st MPJ was noted to be significantly reduced and the CSA of the abductor hallucis to be significantly greater during TSO exercise used in conjunction with ultrasound imaging visual feedback, compared to when the values were recorded during TSO exercise alone (p<.05). Conclusion: Based on these findings, it can be concluded that the application of ultrasound imaging visual feedback during TSO exercise is more effective in contracting selectively the abductor hallucis than the use of exercise alone.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.106-109
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• 2000

The virtual reality - haptic device is developed for the purpose used in the work that human cannot approach and that need elaborate exercises. To render haptic, the total system is constituted master, haptic device, and slave, remote manipulator. Human operates the remote manipulator. Human operates the remote manipulator relying on the hapti devices and stereo graphic. And then the force and scene of the remote manipulator is fed-back from each haptic devices and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and virtual devices. The feedback information gets system gain exactly. The system gain provides the most exact haptic and scene to human by the location, the graphic rendering and the haptic rendering algorithm on real-time. In this research, 3D haptic device is developed for common usage and make human feel the haptic when human contacts virtual object rendered by computer graphic. The haptic device is good for tracing location and producing devices because of the row structure. Also, openGL and Visual Basic is utilized to the algorithms for haptic rendering. The haptic device of this research makes the interface possible not only with virtual reality but also with the real remote manipulator.

• 한국전문물리치료학회지
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• 제25권1호
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• pp.1-11
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• 2018

Background: The continuous co-contraction of the trunk muscles through trunk stabilization exercises is important to patients with lumbar spinal stenosis (LSS). However, intentional abdominal muscle contraction (IAMC) for trunk stabilization has been used only for specific training in the treatment room. Objects: The purpose of this study was to provide feedback to adults with LSS to enable IAMC during activities of daily living (ADLs). Methods: The participants with spinal stenosis were divided into an experimental group of 15 adults and a control group of 16 adults. Electromyographic signals were measured while the subjects kept their both hands held up at $90^{\circ}$. The measured muscles were the rectus abdominis (RA), external oblique (EO), internal oblique (IO), and erector spinae (ES). Pelvic tilt was measured using a digital pelvic inclinometer. The degree of pain was measured using the visual analogue scale (VAS) and functional capacity was measured using the Korean version of the Oswestry disability index (KODI). Results: While the experimental group showed statistically significantly higher activities in the RA, EO, and IO after the intervention compared with the control group. Pelvic tilt was significantly decreased only in the experimental group. Both the experimental and control groups exhibited statistically significant declines in the VAS and KODI (p<.01). In terms of the levels of changes, the experimental group exhibited a statistically significant larger decline only in the VAS and the pelvic tilt when compared with the control group (p<.05). Conclusions: The subjects could stabilize their trunks, and relieve their pain and dysfunctions and reduce pelvic tilt by learning abdominal muscle contraction during ADLs. The combination of therapeutic exercises and IAMC may have greater effects on patients with LSS.

• 감성과학
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• 제8권4호
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• pp.423-433
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• 2005

컴퓨터 하드웨어의 발전은 예술과 기술의 결합을 더욱 결속시키는 계기가 된다. 기계간의 상호작용에서 관객이 간섭할 수 있게 되면 그 결과물은 관객이 작품을 완성한다고 한다 기술의 업그레이드가 진화하며 재사용 되는 경우를 '피드백'이라 말할 수 있다. 백남준의 '참여 TV'는 기계가 인간의 행동에 반응하여 시지각 정보를 실시간으로 행위의 정도에 따라 반응하여 결과물을 보여주는 기본 방식을 갖춘 작품이다 댄 그래함의 작품에서 시공의 피드백을 경험할 수 있다. '연속되는 과거로 이루어지는 현재'라는 설치를 통해 관객의 영상이 거울에 피드백되는 상황 속에서 모니터에서는 5초 전 관객이 했던 영상을 재생시키는 장치를 하였다. 빌 비올라의 영상과 음향의 실시간 확대라는 점에서 감성을 자극하는 공명의 피드백을 일으키고 있는 작품처럼 우연의 시간과 관객의 등장을 바탕으로 한 작가의 철학이 읽혀지는 작품으로 승화되어야 하는 것이 현대 미디어 아트가 풀어 나가야 할 근본적인 화두이다. 스텔락은 몸과 기계 그리고 신경과 두뇌가 발생시키는 신호 체계에 많은 관심을 보였다. 미디어인 몸과 터미널 디스플레이 행위자로 결국 맥루한이 말한 몸의 확장으로서의 미디어 자체가 되었다. 제프리 쇼는 '명료한 도시 legible City'에서 관객의 몸이 관여하여 페달의 속도와 핸들의 움직임에 영상이 반응한다. 작품 'RE:MARK'는 에드몽 뀨쇼(Edmond Couchot)의 '바람에 심는다.' 나 백남준의 '참여 TV'에서 보여주었듯이 마이크를 입력장치로 사용하여 인터렉션을 유도하였다. 피아간의 피드백이 없으면 커뮤니케이션도 없다. 실감을 느끼는 관객들은 작품에 감동한다 피드백 현상이 자연스러워야 하는 이유이다. 작가 정신의 숭고한 고유-독창성(Originality)이 피드백의 경로를 투과하면서 자신을 남에게 투영시켜 얻어내는 것이 고유성의 변종이다. 피드백은 단순한 작품의 일부가 아니라 작품을 이루는 뼈대이다 기술의 과시만으로는 예술의 행위가 될 수 없다. 작가의 예술성이 관객의 감성에 피드백 되도록 노력해야 한다 그러기 위해서는 예정된 피드백이란 느낌을 관객이 갖지 않도록 하여야 한다. 인터렉티브 미디어 아트는 초기의 형태에서 벗어나 새로운 집적된 피드백 기술로 전환하여야 할 시기가 온 것이다.

• 한국컴퓨터그래픽스학회논문지
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• 제26권3호
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• pp.9-19
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• 2020

최근 다양한 종류의 가상 현실 기기가 개발되면서 고전적인 사용자 입력 방식 이외에도 사용자의 신체 동작을 인식하여 현실감을 높이려는 기술에 관한 연구가 활발하게 진행되고 있다. 이러한 장치 중의 하나인 립모션 컨트롤러는 사용자의 손동작을 인식하여 가상 현실 환경에서 사용자의 손 모양을 실시간으로 나타낼 수 있다. 하지만 인식한 사용자의 손을 사용하여 가상 현실의 물체를 조작하면 종종 손이 물체를 통과하게 되는데, 이러한 상호작용은 실제 현실과는 거리감이 있다. 본 연구에서는 가상 현실에서 사용자의 손과 물체 간의 상호작용 현실감을 높이기 위한 시각적 피드백 시스템의 구축 방법을 제시한다. 가상의 현실에서 사용자의 손과 가상 물체가 충돌하는지 광선 추적법을 활용하여 정밀하게 검사하고, 충돌하였을 때 부호 거리 장과 역기구학을 통해 물체 내부로 들어간 사용자의 손가락 말단의 위치를 물체 표면 밖으로 이동시켜 사용자의 손을 재구성하는 과정을 통해 시각적 피드백을 준다. 이를 통해 실시간으로 가상 현실에서 현실감 있는 상호작용을 할 수 있다.

• Physical Therapy Rehabilitation Science
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• 제12권3호
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• pp.214-221
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• 2023

Objective: This study aimed to assess the impact of using the LED light electromyographyfeedback system (EMG-light) during Pilates exercises in women to maintain consistent muscle contraction in the abdominal external oblique muscles and reduce muscle contraction in the upper trapezius muscles. This study compared Pilates training using the EMG-light with Pilates training only in healthy women for 4 weeks. Design: This study was conducted as a cross-sectional study. Methods: A total of 17 healthy women were divided into an experimental group (n=9) and a control group (n=8). Both groups performed Pilates exercises as assigned, twice per week for four weeks, with each session lasting fifty minutes. The experimental group were used the EMG-light feedback system during pilates exercise while the control group did not use EMG-light. We used cervical vertebral angle (CVA), shoulder tilt angle to evaluate neck posture and standing balance with closed eye for 30s before and after exercise. Results: The control group exhibited a significant change in CVA (p<0.05). Both groups showed significant changes in shoulder tilt, center of pressure (COP) path-length, and COP velocity during eyes-closed conditions (p<0.05). However, there were significant differences between the experimental and control groups in terms of CVA, shoulder tilt, COP path-length, and COP velocity. Conclusions: This study demonstrated that Pilates exercises had positive effects on shoulder posture and balance. The use of EMG-light provided real-time visual feedback on muscle contraction during Pilates exercise. However, the experimental group did not show significant improvements compared to the control group, which performed Pilates exercises without feedback.