• 대한기계학회논문집A
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• 제29권2호
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• 한국정밀공학회지
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• 제27권12호
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• pp.75-83
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• 2010

Every mechanical part for mass production has dimensions with tolerances in engineering drawing. Tolerance is given to guarantee assemble parts together satisfying functional requirements and dimensional constraints. Tolerance is essential factor for standardization of parts or assembly and has huge influence on manufacturing cost. It will be desirable to have tolerances as broad as possible for minimizing manufacturing cost. This paper describes tolerance analysis of u-joint assembly that is a part of automobile steering system. Within the range of tolerances of parts, accumulated effect is estimated by arithmetic calculation, probability theory and Monte carlo simulation. Each result is compared to investigate the method for increasing productivity.

• Communications for Statistical Applications and Methods
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• 제22권4호
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• pp.349-359
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• 2015

We study a semiparametric Bayesian approach to small area estimation under a nested error linear regression model with area level covariate subject to measurement error. Consideration is given to radial basis functions for the regression spline and knots on a grid of equally spaced sample quantiles of covariate with measurement errors in the nested error linear regression model setup. We conduct a hierarchical Bayesian structural measurement error model for small areas and prove the propriety of the joint posterior based on a given hierarchical Bayesian framework since some priors are defined non-informative improper priors that uses Markov Chain Monte Carlo methods to fit it. Our methodology is illustrated using numerical examples to compare possible models based on model adequacy criteria; in addition, analysis is conducted based on real data.

• 한국CDE학회논문집
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• 제19권4호
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• pp.356-367
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• 2014

A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

• 대한치과보철학회지
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• 제27권1호
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• pp.55-81
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• 1989

Recently the instantaneous center concept has been to understand the biomechanics by which a tissue derangement causes a mechanical derangement in human joint. Therefore, to understand the biomechanics of temporomandibular joint (T.M.J.) as a part of human joint, it is necessary to clarify the instantaneous center of rotation (I.C.R.) in the mandibular movement. Twenty male subjects without T.M.J. disorder and mandibular deviation during the mandibular movement were selected for this study. The habitual opening and closing paths were recorded on the paper of the sagittal metal plate by two pencil markers connected to the resin open clutch attached on the lower teeth, which was designed for this study. The coordinates of the 33-target points and the 109-anatomical landmarks were obtained using a Summagraphic digitizer connected to a 18AT computer. The original raw data of the opening and closing paths were smoothed by B-spline curve fitting technique and then the I.C.R. pathways were determined mathematically by the computer using algorithm for finding the I.C.R. of a planer rigid body model. Also the opening and closing movements of the mandible were simulated according to the determined I.C.R. The results obtained from this study were as follows. 1. At the early opening and the last closing, I.C.R's were almost distributed around the mastoid process outside the mandibular body without the presence in the region of the mandibular condyle. 2. The I.C.R. pathway showed variable patterns to each subject at the opening and closing movements. 3. The K constant with uniform pattern was obtained by the rotation angle times the radius, which was assumed to the index of the mandibular movement. 4. The opening and closing movements of the mandible were simulated by the I.C.R. pathways at the habitual opening and closing movements. 5. The mandibular condyle was rotated or translated accordng to the relative rotation angle and radius of the determinant factors of K contant.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 1998년도 추계학술대회 및 정기총회
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• pp.120-123
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• 1998

In animating an articulated entity with motion capture data, especially when the reconstruction is based on forward kinematics, there could be large discrepancies at the end effector. The small errors in joint angles tend to be amplified as the forward kinematics positioning progresses toward the end effector. In this paper, we present an algorithm that enhances the motion capture data to reduce positional errors at the end effector. The process is optimized so that the characteristics of the original joint angle data is preserved in the resulting motion. The frames at which the end-effector position needs to be accurate are designated as“keyframes”(e.g. starting and ending frames). In the algorithm, corrections by inverse kinematics are performed at sparse keyframes and they are interpolated with a cubic spline which produces a curve best approximating the measured joint angles. The experiment proves that our algorithm is a valuable tool to improve measured motion especially when end-effector trajectory contains a special goal.

• 한국정밀공학회지
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• 제28권11호
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• pp.1316-1322
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• 2011

Most of the mechanical structures use bolting or spot welding for the whole structure. In recent years, bolting & rivets are used rather than the welding due to reassembly and repair. Analysis of bolted joints is so complicate that many conditions must be considered such as pre-load and contact, etc.. Bolted joint analysis is done by theoretical, experimental & numerical methods. However, numerical analysis in the bolted joint is used because the contact and stress in the joints are changed due to the pre-load. In this study, we analysis the slip and the deformation of the contact area in the joint depending on the pre-load and find the optimized bolting condition.

• 한국정보과학회논문지:소프트웨어및응용
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• 제30권11호
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• pp.1092-1101
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• 2003

대부분의 3차원 캐릭터 애니메이션에서는 모션 캡쳐 장비를 통해서 포착된 동작 데이타를 이용하여 다양한 지형상에서 캐릭터가 걷는 동작을 표현한다. 이러한 동작 포착 데이타는 실제 사람과 같이 움직이는 동작들을 자연스럽게 표현할 수 있으나, 만약 다양한 지형에 대한 움직이는 동작이 표현할 경우, 지형의 유형에 따라 모든 동작을 캡쳐하여야 하고, 얻어진 동작 데이타를 다른 유형의 캐릭터에 적용할 경우 동작 데이타를 다시 얻거나 기존 동작 데이타를 재편집해야 하는 어려움이 있다. 따라서 본 연구에서는 적은 매개변수들을 사용하여 평지면, 경사면, 계단면 그리고 굴곡면 등 다양한 지형에서의 적응적인 걷는 동작을 생성하기 위한 방법과 골반과 이동하는 다리의 움직임 제적을 산출하는 방법을 제안한다. 이 방법에서는 캐릭터의 신장이나 걷는 속도, 걸음폭 등의 매개변수들을 조절하여 다양한 걸음걸이를 생성할 수 있으며 역운동학(Inverse Kinematics) 개념을 적용하여 관절들의 위치나 각도를 산출하고 관절의 이동 궤적을 계산하기 위해 큐빅 스플라인 곡선을 활용한다.

• 대한기계학회논문집A
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• 제29권1호
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• pp.1-13
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• 2005

Kinematics of grasping and manipulation by a multi-fingered robotic hand where multi-fingertip surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces in order to model the objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric equations of contact locations have been solved for all possible contact combinations between the fingertip surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface to a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact states such as pure rolling, twist-rolling or slide-twist-rolling. Several simulation examples of grasping and manipulation are presented.

• 대한물리의학회지
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• 제13권3호
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• pp.113-120
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• 2018

PURPOSE: This study was conducted to investigate the characteristics of a specific functional shoe in terms of the range of motion (ROM) of ankle and foot joints during walking when compared to a standardized shoe. METHODS: Kinematic ROM data pertaining to ankle, tarsometatarsal, and metatarsophalangeal joints were collected from twenty-six healthy individuals during walking using a ten-camera motion analysis system. Kinematic ROM of each joint in three planes was obtained over ten walking trials consisting of two different shoe conditions. Visual3D motion analysis was finally used to coordinate the kinematic data. All kinematic ROM data were interpolated using a cubic spline algorithm and low-pass filtered with a cutoff frequency of 6 Hz for smoothing. RESULTS: The overall ROM of the ankle joint in the sagittal and coronal planes when wearing the specific functional shoe was significantly decreased in both ankles during walking when compared to wearing a standard shoe (p<.05). Significantly more flexibility was observed when wearing the specific functional shoe in the tarsometatarsal and metatarsophalangeal joints compared to a standard shoe (p<.05). CONCLUSION: Although clinical application of the specific functional shoe has shown clear positive effects on knee and ankle moments, the results of this study provide important background information regarding the kinematic mechanisms of these effects.