• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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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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• 1990.10a
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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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• 1998.10a
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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.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.9
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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.

• Physical Therapy Korea
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• v.23 no.3
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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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.

• Physical Therapy Korea
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• v.25 no.1
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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.

• Science of Emotion and Sensibility
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• v.8 no.4
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• pp.423-433
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• 2005

The computer hardware development has provided many chances of emergence between art and technology. In many cases today's interactive artworks cannot be completed without audience's participation. The interactive production process with technical supplementation can be celled feedback. Mr. Nam Jun Paik showed 'Participant TV' that interacts with audience's response in real time. It means artwork changes with the constantly changing value from the data set from human visual perception. Dan Graham showed another feedback related work, which delays 5second playback in mirror that implies consequence of time. Today's media art has to sublimate coincidence, time ant audience into philosophical artwork through consonance that comes with video and sound as we can see from Bill Viola. Stelarc produced artworks. That use input data that is weak signals from brain, muscles. Through a terminal display with player, body expanded meaning of media. Jeffrey Shaw's 'Legible City' provided a fabrication of the reality with the interaction of bicycle's pedal speed and steering direction that is controlled by 4river. RE:MARK used microphone as input device as Edmond Couchot's 'Je same a la vent' and Nam Jun Paik's 'Participant TV' did. There is no communication without feedback between human being. The reality makes audience involved into artworks. That is the reason why feedback has to be natural. Through the feedback process, the originality of the idea is altered by audience. The feedback is not just part of flesh of artwork rather skeleton of it. Technological showoff cannot be art itself The perfection of technological application plan helps feedback that interacts with audience naturally in order that audience hoes not feel the feedback as artificial plan. Interactive media art has to be evolved into new media form with new integration feedback technology.

• Journal of the Korea Computer Graphics Society
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• v.26 no.3
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• pp.9-19
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• 2020

With the recent development of various kinds of virtual reality devices, there has been an active research effort to increase the sense of reality by recognizing the physical behavior of users rather than by classical user input methods. Among such devices, the Leap Motion controller recognizes the user's hand gestures and can realistically trace the user's hand in a virtual reality environment. However, manipulating an object in virtual reality using a recognized user's hand often causes the hand to pass through the object, which should not occur in the real world. This study presents a way to build a visual feedback system for enhancing the user's sense of interaction between hands and objects in virtual reality. In virtual reality, the user's hands are examined precisely by using a ray tracing method to see if the virtual object collides with the user's hand, and when any collision occurs, visual feedback is given through the process of reconstructing the user's hand by moving the position of the end of the user's fingers that enter the object through sign distance field and reverse mechanics. This enables realistic interaction in virtual reality in real time.

• Physical Therapy Rehabilitation Science
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• v.12 no.3
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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.