• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.322-333
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.555-557
• /
• 1992

Recently, realization of an intelligent cooperative interaction system between a man and robot systems is required. In this paper, HyperCard with a voice control is used for above system because of its easy handling and excellent human interfaces. Clicking buttons in the HyperCard by a mouse device or a voice command means controlling each joint of a robot system. Robot teaching operation of grasping a bin and pouring liquid in it into a cup is carried out. This robot teaching method using HyperCard provides a foundation for realizing a user friendly cooperative interaction system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.3
• /
• pp.300-305
• /
• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.1203-1210
• /
• 2007

Robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object. In this study, we addresses the development of a 3-fingered humanoid robot hand system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the robot hand is validated through preliminary experiments.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.4
• /
• pp.126-135
• /
• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• The Journal of Korean Physical Therapy
• /
• v.24 no.6
• /
• pp.409-413
• /
• 2012

Purpose: Rehabilitative devices are used to enhance sensorimotor training protocols, for improvement of motor function in the hemiplegic limb of patients who have suffered a stroke. Sensorimotor integration feedback systems, included with these devices, are very good therapeutic frameworks. We applied this approach using electrical stimulation in stroke patients and examined whether a functional electric stimulation-assisted biofeedback therapy system could improve function of the upper extremity in chronic hemiplegia. Methods: A prototype biofeedback system was used by six subjects to perform a set of tasks with their affected upper extremity during a 30-minute session for 20 consecutive working days. When needed for a grasping or releasing movement of objects, the functional electrical stimulation (FES) stimulated the wrist and finger flexor or extensor and assisted the patients in grasping or releasing the objects. Kinematic data provided by the biofeedback system were acquired. In addition, clinical performance scales and activity of daily living skills were evaluated before and after application of a prototype biofeedback system. Results: Our findings revealed statistically significant gradual improvement in patients with stroke, in terms of kinematic and clinical performance during the treatment sessions, in terms of manual function test and the Purdue pegboard. However, no significant difference of the motor activity log was found. Conclusion: Hemiplegic upper extremity function of a small group of patients with chronic hemiparesis was improved through two weeks of training using the FES-assisted biofeedback system. Further research into the use of biofeedback systems for long-term clinical improvement will be needed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.216-221
• /
• 1989

Most of industrial robots are reprogrammable for various operations. while the gripper is only used for on - off grasping. If the gripper has the intelligent ability to interact with its environment, it will be very useful in many fine motion application. For this pur pose, an electric gripper system is, developed through experiments and simulation. This paper describes a method of the contact position between the gripper and the grasped object by using strain gauge sensors, and presents the related experimental results.

• Journal of the HCI Society of Korea
• /
• v.2 no.2
• /
• pp.53-59
• /
• 2007

Several researches in 3D interaction have identified and extensively studied the four basic interaction tasks for 3D/VE applications, namely, navigation, selection, manipulation and system control. These interaction schemes in the real world or VE are generally suitable for interacting with small graspable objects. In some applications, it is important to duplicate real world behavior. For example, a training system for a manual assembly task and usability verification system benefits from a realistic system for object grasping and manipulation. However, it is not appropriate to instantly apply these interaction technologies to such applications, because the quality of simulated grasping and manipulation has been limited. Therefore, we introduce the intuitive and natural 3D interaction haptic interface supporting high-precision hand operations and realistic haptic feedback.

• Journal of the Korean Society of Physical Medicine
• /
• v.3 no.4
• /
• pp.247-254
• /
• 2008

Purpose : The purpose of this study was to analyze some factors that can cause incidence of the muscle and skeletal system trouble, by which Dental Hygiene Students examine the pain and the inconvenient feeling according to kinds in manual implements and the usability in the level of manipulating and maintaining the manual implement, in the actual training of the intra oral cavity along with mannequin given the scaling practice. Methods : Targeting 18 female juniors for the department of dental hygiene, who had directly practiced oral prophylaxis for 2 years, the questionnaire research was carried out right after the mutual practice in the intra oral cavity along with mannequin. Results : It was indicated that there is no big difficulty both in intra oral cavity and mannequin in terms of manipulating implement with a method of maintaining the rightly hand fixing or of grasping the trans formative pencil and of controlling force given manipulating the implement. How to grasp a trans formative pencil was indicated to be more difficult in the intra-oral manipulation(p<.05). Pain and inconvenient-feeling level, which occur in muscle and skeletal system during practicing the scaling in mannequin, were indicated to be in order of shoulder, wrist, neck, waist, elbow, and headache. Conclusion : There was no big difference in the pain and the inconvenient feeling in muscle and skeletal system according to mannequin and intra-oral environment given manipulating tile manual implement. However, there was difference in manipulating the implement with a method of grasping transformative pencil. The pain and inconvenient feeling in muscle and skeletal system were the highest both in shoulder and wrist.

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