• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.310-313
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• 2005

In recent years, as the robot technology is developed, the researches on the artificial muscle actuator that enable robot to move dexterously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electro-active polymer. These actuators have the higher energy density than the electro-mechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper, the simulation of anthropomophic robotic hand is performed using ADAMS and the segmented binary control for reducing the hysteresis of SMA is proposed. SMA is controlled by thermo-electric module. The relations between the force and the hysteresis are developed to verify the validity of the suggested method.

• Journal of Industrial Technology
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• v.29 no.A
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• pp.47-54
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• 2009

In this paper, we proposed hand detection and hand gesture recognition from USB camera video. Firstly, we extract hand region extraction using skin color information from a difference images. Background image is initially stored and extracted from the input images in order to reduce problems from complex backgrounds. After that, 16-directional chain code sequence is computed from the tracking of hand motion. These chain code sequences are compared with pre-trained models using DP matching. Our hand gesture recognition system can be used to control PowerPoint slides or applied to multimedia education systems. We got 92% hand region extraction accuracy and 82.5% gesture recognition accuracy, respectively.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.436-439
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• 2012

The work is to the control the desktop Computers based on hand gesture recognition. This paper is worked en real time tracking and recognizes the hand gesture for controlling the slides based on hand direction such as right and left using a real time camera.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5440-5445
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• 2014

Many studies have examined robot control using human bio signals but complicated signal processing and expensive hardware are necessary. This study proposes a method to recognize a human's hand motion using a low-cost EMG sensor and Flex sensor. The method to classify movement of the hand and finger is determined from the change in output voltage measured through MCU. The analog reference voltage is determined to be 3.3V to increase the resolution of movement identification through experiment. The robotic hand is designed to realize the identified movement. The hand has four fingers and a wrist that are controlled using pneumatic cylinders and a DC servo motor, respectively. The results show that the proposed simple method can realize human hand motion in a remote environment using the fabricated robotic hand.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.551-557
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• 2013

In intelligent robot research, hand gesture recognition has been an important issue. And techniques that recognize simple gestures are commercialized in smart phone, smart TV for swiping screen or volume control. For gesture recognition, robust hand detection is important and necessary but it is challenging because hand shape is complex and hard to be detected in cluttered background, variant illumination. In this paper, we propose efficient hand detection algorithm for detecting pointing hand for recognition of place where user pointed. To minimize false detections, ROIs are generated within the compact search region using skin color detection result. The ROIs are verified by HOG-SVM and pointing direction is computed by both detection results of head-shoulder and hand. In experiment, it is shown that proposed method shows good performance for hand detection.

• Perspectives in Nursing Science
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• v.8 no.1
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• pp.42-53
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• 2011

Purpose: This study was conducted to investigate the effects of aroma hand massage on anxiety and sleep in cancer patients during hospitalization. Methods: This study used a pre-post non-synchronized quasi-experimental design. Data were collected from 66 participating patients from July to December 2008. The participants were divided into an aroma massage group (n=25), a hand massage group (n=15), and a control group (n=26). The experimental group received aroma hand massage using 1% diluted lavender aroma oil once per day for 3 days. The massage was given by the researcher following the Korea Aromatherapy Health Professional Association massage protocol In contrast control group A received only a hand massage. The state anxiety, sleep condition, sleep satisfaction levels, and sleep duration were measured before and after the intervention trial. Results: The aroma hand massage group experienced in a significant decrease in their state anxiety (F=7.658 p=.001). Moreover, there was a significant increase in their sleep condition (F=18.047, p=.001), sleep satisfaction (F=30.016, p=.001) and sleep duration (F=23.019, p=.001) compared to the other groups according to one-way ANOVA and Scheffe's multiple comparison test. Also, noted was a significant increase in the sleep condition of the hand massage group as in the aroma hand massage group according to the Scheffe test. Conclusion: The study findings indicates that aroma hand massage decreases anxiety and increases the sleep condition, sleep satisfaction, and sleep duration of cancer patients.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.933-940
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• 2022

In this paper, the algorithm was developed to recognize hand 3D position through 2D image sensor and implemented a system to remotely control the 6 d.o.f. robot arm by using it. The system consists of a camera that acquires hand position in 2D, a computer that controls robot arm that performs movement by hand position recognition. The image sensor recognizes the specific color of the glove putting on operator's hand and outputs the recognized range and position by including the color area of the glove as a shape of rectangle. We recognize the velocity vector of end effector and control the robot arm by the output data of the position and size of the detected rectangle. Through the several experiments using developed 6 axis robot, it was confirmed that the 6 d.o.f. robot arm remote control was successfully performed.

• Journal of East-West Nursing Research
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• v.7 no.1
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• pp.105-111
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• 2002

The purpose of this study was to investigate the effect of hand massage program on total sleep hours at night and satisfaction of sleep in clients with ischemic heart disease. The design utilized for this study was quasi-experimental with a nonequivalent control group non-synchronized design. The subjects were fifty-four patients, twenty-eight for the experimental and twenty-six for the control group, who were admitted with ischemic heart disease at cardiac intensive care unit in K medical center of K university. This study was carried out from May, 1999 to March, 2000. Hand massage was carried out at $8{\sim}9$ PM, once a day for 3 days. Total sleep hours at night were measured from 9 PM through 6AM next morning. Sleep hours of subjects were observed 30 minutes interval. Satisfaction of sleep was measured by Visual Analogue Scale(VAS) at 7 AM next morning. The collected data were processed by using the SPSS PC program and analyzed using $X^2$-test and repeated measures of ANOVA. The result of this study are as follows : 1. The total sleep hours at night of the experimental group were not higher than those of the control group. 2. The satisfaction of sleep of the experimental group was not higher than that of the control group. In conclusion, hand massage did not promoted sleep in ICU clients with ischemic heart disease.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.4
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• pp.285-297
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• 2000

One of the research objectives in the area of multimedia human-computer interaction is the application of artificial intelligence and robotics technologies to the development of computer interfaces. This involves utilizing many forms of media, integrating speed input, natural language, graphics, hand pointing gestures, and other methods for interactive dialogues. Although current human-computer communication methods include computer keyboards, mice, and other traditional devices, the two basic ways by which people communicate with each other are voice and gesture. This paper reports on research focusing on the development of an intelligent multimedia interface system modeled based on the manner in which people communicate. This work explores the interaction between humans and computers based only on the processing of speech(Work uttered by the person) and processing of images(hand pointing gestures). The purpose of the interface is to control a pan/tilt camera to point it to a location specified by the user through utterance of words and pointing of the hand, The systems utilizes another stationary camera to capture images of the users hand and a microphone to capture the users words. Upon processing of the images and sounds, the systems responds by pointing the camera. Initially, the interface uses hand pointing to locate the general position which user is referring to and then the interface uses voice command provided by user to fine-the location, and change the zooming of the camera, if requested. The image of the location is captured by the pan/tilt camera and sent to a color TV monitor to be displayed. This type of system has applications in tele-conferencing and other rmote operations, where the system must respond to users command, in a manner similar to how the user would communicate with another person. The advantage of this approach is the elimination of the traditional input devices that the user must utilize in order to control a pan/tillt camera, replacing them with more "natural" means of interaction. A number of experiments were performed to evaluate the interface system with respect to its accuracy, efficiency, reliability, and limitation.

• PNF and Movement
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• v.21 no.1
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• pp.107-117
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• 2023

Purpose: The aim of this study is to compare the immediate effects of weight-assisting methods on vastus medialis oblique (VMO) and vastus lateralis (VL) muscle activation, on the VMO/VL muscle activation ratio, and on muscle onset time in healthy subjects when ascending stairs. Methods: Healthy participants were randomly assigned to the belt group (n = 11), hand group (n = 11), and control group (n = 11). In the belt group, a belt was wrapped around the sacrum and pulled forward with both hands, moving the center of weight forward, while ascending stairs. The hand group grasped the hips with both hands and climbed stairs, assisting their weight from the rear and moving the center of weight backward, and the control group climbed the stairs without any intervention. Results: Muscle activation of the VMO decreased significantly after the intervention in the belt and hand groups, and activation of the VL muscle in both groups showed a greater decrease than that of the VMO muscle. Further, the VMO/VL muscle activation ratio increased significantly, with an improvement shown in the order of the belt group, hand group, and control group, while muscle onset time also improved in the order of the belt group, hand group, and control group. Conclusion: The belt group demonstrated the greatest effect across all dependent variables, confirming that in clinical practice, these two weight-assisting methods are more effective interventions during stair ascent for patients with knee joint instability, pain, and imbalance than no assistance.