• 로봇학회논문지
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• 제10권3호
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• 로봇학회논문지
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• 제17권3호
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.374-380
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• 2010

This paper proposes a wearable interface for a tendon-driven robotic hand prosthesis. The proposed interface is composed of a dataglove to measure finger and wrist joint angle, and a micro-control board with a wireless RF module. The interface is used for posture control of the robotic hand prosthesis. The measured joint angles by the dataglove are transferred to the main controller via the wireless module. The controller works for directly controlling the joint angle of the hand or for recognizing hand postures using a pattern recognition method such as LDA and k-NN. The recognized hand postures in this study are the paper, the rock, the scissors, the precision grasp, and the tip grasp. In experiments, we show the performances of the wearable interface including the pattern recognition method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.57-61
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• 1990

An optimal graspiftg algorithms for a multifingered robotic hand is proposed, where a new quality measure is developed to evaluate task-oriented as well as stability by modelling the tasks as ellipsoids. To show the validities of the proposed algorithm, several numerical examples are presented by employing a 3-fingered robotic hand.

• 대한기관식도과학회지
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• 제17권2호
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• pp.83-88
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• 2011

Robotic thyroidectomy has been developed to minimize neck scarring, and several authors have described its feasibility and safety, and have reported surgical outcomes comparable with conventional open thyroidectomy. The da Vinci surgical system robot provides a three-dimensional $10-12{\times}$magnified view of the surgical area. It also provides hand-tremor filtration, fine motion scaling, and precise and multi-articulated hand-like motions. Recently, robotic technology has also been applied to lateral compartment neck dissection in thyroid cancer. We have developed a new novel selective neck dissection procedure by a gasless unilateral axillo-breast (GUAB) approach with a da Vinci Surgical System for well-differentiated thyroid carcinoma to avoid a long visible neck scar. Based on our early experience, robotic selective neck dissection by GUAB approach is a safe, feasible and cosmetically excellent procedure. It can be an alternative to conventional open surgery in the highly selected patients with well-differentiated thyroid carcinoma. The oncologic safety of robotic selective neck dissection should be verified with long-term follow-up data.

• 대한기계학회논문집A
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• 제29권4호
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• pp.540-554
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• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

• 한국산학기술학회논문지
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• 제15권9호
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• pp.5440-5445
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• 2014

사람의 생체 신호를 측정하여 로봇 제어에 이용하는 연구는 최근까지 활발히 진행되고 있다. 하지만 정확한 센서 정보를 위한 복잡한 신호 처리가 필요하고 고가의 시스템을 필요로 하는 단점이 있다. 본 논문에서는 저가의 EMG 센서와 Flex 센서로부터 측정된 신호를 이용하여 사람의 손 동작을 인식한 후 해당 움직임을 원격지의 로봇 핸드로 구현하는 것을 목표로 한다. MCU(Micro Controller Unit) 와 해당 센서들을 이용하여 실험적으로 사람의 손과 팔 부근의 3개의 센서 부착 위치를 결정하고 움직임에 따른 출력 신호와 실제 동작 사이의 구분 방법을 결정한다. 동작 인식 정확도를 높이기 위해 MCU의 아날로그 기준 전압에 따른 디지털 값 변화 실험 수행 후 기준 전압을 3.3V로 선정하였다. 손 동작을 구현하기 위해 4개의 손가락과 손목부분으로 구성된 링크 구조의 로봇 핸드를 설계한 후 제작하였다. 결과적으로 간단한 센서와 저가의 MCU를 활용하여 원격지의 로봇 핸드를 제어할 수 있음을 보였다.

• 한국산업융합학회 논문집
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• 제16권4호
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• pp.141-145
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• 2013

This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.

• Archives of Plastic Surgery
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• 제40권4호
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• pp.320-326
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• 2013

Robotically assisted microsurgery or telemicrosurgery is a new technique using robotic telemanipulators. This allows for the addition of optical magnification (which defines conventional microsurgery) to robotic instrument arms to allow the microsurgeon to perform complex microsurgical procedures. There are several possible applications for this platform in various microsurgical disciplines. Since 2009, basic skills training courses have been organized by the Robotic Assisted Microsurgical and Endoscopic Society. These basic courses are performed on training models in five levels of increasing complexity. This paper reviews the current state of the art in robotically asisted microsurgical training.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.63-66
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• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.