• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.768-771
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• 1997

Geometric probing addresses the problem of determining geometric aspects of a structure from the mathematics and results of a physical measuring device such as a probe. This paper presents a new algorithm to recognize the shape of an unknown object by using a robot hand with a force and torque sensor. The new algorithm is called S.E.P.(Shape Exploration Procedure) which finds the global shape of an unknown object. The proposed method is composed of three major parts, finding contact informations such as contact point, calculation of shape information such as curvature, and expression of global shape from these informations. Comparing with the conventional approaches, the advantages of the proposed method are explained and verified by conducting experiments with a 3-dof SCARA robot.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.138-141
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• 2002

In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.64-71
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• 2021

This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.231-240
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• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.4
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• pp.299-305
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• 2017

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

• Journal of the Ergonomics Society of Korea
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• v.7 no.1
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• pp.31-37
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• 1988

This paper designs, in the teleoperation task, the world coordinate system by the functional analysis of each of the robot joint so that the human operator performs easily the task. Also, it constructs the heuristic rules of the equal motion line coordinates for the position and the posture control of the robot within the knowledge base so that the robot hand reaches-possibly in any position of the robot's work space. As shown in the result of the experiments. the coordinate reading is easy because the work station is displayed to the high resolution by using the superimposer of the motion analysing computer system. Also. the task burden of the human operator reduces and the error recovery time reduces because the coordinates of the object is obtained just by touch using the digitizer.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.455-458
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• 1988

In this paper, a grasping force control of robot hand is presented with consideration of workpiece dynamics. It is difficult to control a manipulator without the knowledge of Its dynamics, because its handling with unknown workpiece may bring about overshoots and vibrations. Then it is necessary to adjust control gains according to the handling workpieces in order to achieve good control performances. The authors propose a new control strategy which uses adaptive observer and VSS (${\underline{V}}ariable$ ${\underline{S}}tructure$ ${\underline{S}}ystem$) controller to subdue these overshoots and vibrations. Some simulations of the proposed method are carried out for a grasping system to control the grasping force to various workpieces, whose dynamics cannot be known in advance.

• Journal of Industrial Technology
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• v.16
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• pp.71-81
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• 1996

This paper discusses a physiological approach motivated by the study of human hands for robot hand force control. It begins with an analysis of the human's grasping behavior to see how humans determine the grasp forces. The human controls the grasp force by sensing the friction force, that is, the weight of the object which is felt on his hand, but when slip is detected by sensing skin acceleration, the grasp force becomes much greater than the minimum force required for grasping by adding the force which is proportional to the acceleration. And two methods that can predict when and how fingers will slip upon a grasped object are considered. To emulate the human's capabilities, we propose a method for determination of as grasp force, which uses the change in the friction force. Experimental results show that the proposed method can be applied to control of robot hands to grasp objects of arbitrary weight stably without skin-like slip sensors.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1272-1274
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• 1996

This paper presents the development of tactile sensor systems for robot hand which are truly usable, robust, reliable and cheap system. The sensor incorporates multiple sensing subsystems for detecting distributed contact forces and surface characteristics. The fabrication and experimental evaluation of the tactile system and its electric interfaces are described. The results indicate that the system provides reasonable performances for practical applications requiring manipulation with tactile feedback.