• 로봇학회논문지
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• 제12권3호
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• pp.306-312
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• 2017

Recently, development of robot technology has been actively investigated that industrial robots are used in various other fields. However, the interface of the industrial robot is limited to the planned and manipulated path according to the target point and reaching time of the robot arm. Thus, it is not easy to create or change the various paths of the robot arm in other applications, and it is not easy to control the robot so that the robot arm passes the specific point precisely at the desired time during the course of the path. In order to overcome these limitations, this paper proposes a new-media content management platform that can manipulate 6 DOF industrial robot arm using 3D game engine. In this platform, the user can directly generate the motion of the robot arm in the UI based on the 3D game engine, and can drive the robot in real time with the generated motion. The proposed platform was verified using 3D game engine Unity3D and KUKA KR-120 robot.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1998년도 춘계학술대회논문집
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• pp.19.1-24
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• 1998

Designers often hesitate to decide the shape, size, and layout of a product. Though ergonomic principles and data are absolutely needed in this process, they don't have enough guidelines to refer. For the refrigerator designers, they also are not convinced of their decision: the vertical position of the freezing and refrigerating rooms, the height of shelves, the shape of door-handle, and etc. To support the refrigerator design, we applied several ergonomic methods to the evaluation of a refrigerator. EMG measurement was used to evaluate the load of user's lumbar muscle. Based upon the experimental EMG data, we developed a model to predict the relative load according to the height of refrigerator shelves. Two different layouts of a refrigerator, R/F and F/R style, were compared with the model. A three-dimenaional motion analysis method was used to evaluate the user's motion of using a refrigerator. Ten door-handles with the different shapes and positions were evaluated by tracking the rotations of the user's arm. Video protocol analysis was used to evaluate the user interface of a control panel in a refrigerator. Finally, we made several ergonomic design guidelines based on the facts found in this research and the anthropometric data of the Korean adults. The results of this study can be applied to the ergonomic design of a refrigerator.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1993년도 춘계학술대회논문집
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• pp.18-26
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• 1993

When designing workplaces, controls should be placed within the reach of operator's arm or foot to guarantee effective performance. The aviation industry is perhaps the chief user of anthropometric data for its need to weight minimization and space optimization. In designing a workplace which must cater to a wide range of operator size, it might be sufficient to plan only for the 'average person'. Static arm reach measurements which are taken in conventional, standardized positions provide the necessary information, but they cannot be directly applied to dynamic situations. In this research, an approximate algorithm to generate the workspace of the human body including foot reach and trunk motion is proposed and tested. The robot kinematics was employed to represent the human body as a multi-link system.

• 한국콘텐츠학회논문지
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• 제14권1호
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• pp.24-29
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• 2014

본 논문에서는 키넥트 적외선 프로젝터를 통해 깊이를 감지할 수 있는 카메라를 이용하여 사람 움직임을 추적하고 본 논문에서 제안한 몸동작 모델 인식을 통하여 3D 콘텐츠를 제어하는 기법을 제안 한다. 본 논문에서 제안하는 사람의 동작 인식 모델은 사람의 오른팔과 왼팔의 손목, 팔꿈치, 어께 움직임의 거리를 계산하여 좌, 우, 상, 하, 확대, 축소, 선택 등의 7가지 동작 상태를 인식한다. 본 연구에서 제안한 키넥트 기반의 동작 인식 모델은 기존의 접촉식 방식의 인터페이스와 비교할 때 특정센서 또는 장비 부착에 대한 불편함을 없애고 고비용의 하드웨어 시스템을 이용하지 않음으로서 사람의 자연스런 몸동작 이동에 따른 저 비용 3D 콘텐츠 제어 기술을 보여준다.

• 대한기계학회논문집B
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• 제41권8호
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• pp.505-510
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• 2017

본 논문에서는 다양한 견관절 장애 증상에 적용할 수 있는 보급형 상지 재활 로봇의 설계를 다룬다. 견관절의 회전에 수반되는 관절 중심의 위치변화를 추종하고, 사용자의 상지와 장치의 무게를 상쇄하는 3자유도 견관절 추종 및 중력보상 메커니즘을 구현하였다. 다양한 방향의 어깨 재활 동작을 구현할 수 있도록 구동축의 방향을 변환하는 메커니즘을 설계하여, 견관절에 대한 구동기의 상대적인 오리엔테이션을 변화시킴으로써 대표적인 5가지 견관절 동작을 수행할 수 있었다. 동시에 재활 운동 중의 견관절의 위치 변화를 추종하여 자연스러운 견관절 운동을 구현할 수 있었다. 최소의 구동기를 사용하는 보급형 로봇으로도 다양한 견관절 질환에 효과적으로 대응할 수 있음을 확인하였다.

• 로봇학회논문지
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• 제18권1호
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• 한국CDE학회논문집
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• 제9권4호
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• pp.277-285
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• 2004

In this paper, a 2 DOF haptic yawing joystick for use as the navigation input device in virtual environments is introduced. The haptic yawing joystick has 360° range for yawing motion and ±100° for pitching motion. The device can support weights of up to 26N for χ axis and 10N for axis with 10kHz of sampling rate. The size of the haptic yawing joystick is so small that it can be assembled on armrest of an arm chair and has relatively larger work space than other conventional 2 DOF joysticks. For the haptic yawing joystick, an ellipse navigation algorithm using the user's velocity in the virtual navigation is proposed. The ellipse represents the velocity of the user. According to the velocity of the navigator, the ellipse size is supposed to be changed. Since the path width of navigation environments is limited, the ellipse size is also limited. The ellipse navigation algorithm is tested in 2 dimensional virtual environments. The test results show that the average velocity of the navigation with the algorithm is faster than the average navigation velocity without the algorithm.

• 한국생산제조학회지
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• 제24권6호
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• pp.703-709
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• 2015

In this work, a robot aimed at grapping and delivering an object by using a simple finger-pointing command from a hand- or arm-handicapped person is introduced. In this robot system, a Leap Motion sensor is utilized to obtain the finger-motion data of the user. In addition, a Kinect sensor is also used to measure the 3D (Three Dimensional)-position information of the desired object. Once the object is pointed at through the finger pointing of the handicapped user, the exact 3D information of the object is determined using an image processing technique and a coordinate transformation between the Leap Motion and Kinect sensors. It was found that the information obtained is transmitted to the robot controller, and that the robot eventually grabs the target and delivers it to the handicapped person successfully.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2005년도 추계 종합학술대회 논문집
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• pp.264-268
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• 2005

본 논문에서는 유비쿼터스 컴퓨팅 기술의 여러응용 서비스에서 가장 핵심적인 요소 기술 중의 하나인 사용자의 상황인식시스템에 대하여 기술한다. 제안하는 시스템은 실험 대상자의 우측 상완에 착용하는 $SenseWear^{(R)}$ PRO2 Armband(BodyMedia사)에 내장된 2차원 가속도센서를 이용하여 데이터를 획득하고, 눕기, 앉기, 걷기, 뛰기 4단계 동작의 인체동작상태의 구분은 PC 기반의 퍼지추론 시스템으로 구현 하였다. 이를 이용하여 분석한 인체동작 인식률은 눕기, 앉기, 걷기 뛰기에 대하여 각각 100%, 98.64%, 99.27%, 100%로 나타났다.