• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.842-847
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• 2005

This paper proposes a novel real-time EMG pattern recognition for the control of a multifunction myoelectric hand from four channel EMG signals. To cope with the nonstationary signal property of the EMG, features are extracted by wavelet packet transform. For dimensionality reduction and nonlinear mapping of the features, we also propose a linear-nonlinear feature projection composed of PCA and SOFM. The dimensionality reduction by PCA simplifies the structure of the classifier, and reduces processing time for the pattern recognition. The nonlinear mapping by SOFM transforms the PCA-reduced features to a new feature space with high class separability. Finally a multilayer neural network is employed as the pattern classifier. We implement a real-time control system for a multifunction virtual hand. From experimental results, we show that all processes, including virtual hand control, are completed within 125 msec, and the proposed method is applicable to real-time myoelectric hand control without an operation time delay.

• 한국산학기술학회논문지
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• 제17권2호
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• pp.427-435
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• 2016

최근 중동 호흡기 증후군의 발현으로 손 씻기가 강조되고 있는 실정이다. 본 연구의 목적은 중동호흡기 증후군의 예방을 위하여 손 씻기의 빈도에 영향을 미치는 요인을 파악하기 위하여 기질불안, 건강통제위, 건강증진행위의 관계를 분석하였다. 314명의 간호 대학생들에게 중동 호흡기 증후군을 예방하는 방법, 손 씻는 횟수, 기질불안, 건강통제위, 건강증진행위에 대하여 설문조사하였고, 수집된 자료는 Pearson correlation, 다중회귀분석으로 분석하였다. 손 씻기 수행 빈도에 영향을 미치는 요인으로는 손 씻기 중요도 이였으며, 손 씻기 중요도에 영향을 미치는 요인은 내적통제위로 나타났다. 또한, 대부분의 간호 대학생이 손 씻기가 중동 호흡기 증후군의 가장 중요한 예방법으로 인지하였다. 이에 손 씻기의 중요성과 내적 통제위를 강화한 건강교육을 진행해야 할 것이다.

• 재활간호학회지
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• 제18권2호
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• pp.128-134
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• 2015

Purpose: The purpose of this study was to compare the effects of hand massage provided with different intervals and periods on pain and sleep disturbance after orthopedic surgery. Methods: A non-equivalent control group pretest- posttest design was used. The subjects were admitted in an orthopedic hospital to get a surgery. They were divided into three groups. Group I (n=30) had hand massage every day. Group II (n=30) had hand massage every other day. Control group (n=31) had usual care. Data of all three groups were collected on the day before operation, POD (postoperative day) 6 and POD12. Hand massage was given for 2 and half minutes per hand. Results: Pain on POD6 of experimental group II was reduced more than those of control group. Pains on POD12 of both experimental groups were reduced more than those of control group. On POD6, only perceived sleep disturbance (PSD) was significantly different among groups. On POD12, PSD, total sleeping time, and sleep efficiency were more improved in the experimental groups. Conclusion: Hand massage was effective on the reduction of pain and sleep disturbance after orthopedic surgery. Applying hand massage on alternate day was effective enough. Also the effects were more obvious after 12 days.

• 한국산업정보학회논문지
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• 제13권4호
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• pp.145-154
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• 2008

본 논문에서는 애완용 로봇에 장착된 카메라로부터 획득된 연속 영상에서 사용자의 손 제스처를 인식하여 로봇을 제어하는 시스템을 제안한다. 제안된 시스템은 손 검출, 특징 추출, 제스처 인식 로봇 제어의 4단계로 구성된다. 먼저 카메라로부터 입력된 영상에서 HSI 색상공간에 정의된 피부색 모델과 연결성분 분석을 이용하여 손 영역을 검출한다. 다음은 연속 영상에서 손 영역의 모양과 움직임에 따른 특징을 추출한다. 이때 의미 있는 제스처의 구분을 위해 손의 모양을 고려한다. 그 후에 손의 움직임에 의해 양자화된 심볼들을 입력으로 하는 은닉 마르코프 모델을 이용하여 손 제스처는 인식된다. 마지막으로 인식된 제스처에 대응하는 명령에 따라 애완용 로봇이 동작하게 된다. 애완용 로봇을 제어하기 위한 명령으로 앉아, 일어서, 엎드려, 악수 등의 제스처를 정의하였다. 실험결과로 제안한 시스템을 이용하여 사용자가 제스처로 애완용 로봇을 제어 할 수 있음을 보였다.

• 한국공작기계학회논문집
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• 제15권5호
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• pp.14-20
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• 2006

In recent year, as the robot technology is developed, the researches on the artificial muscle actuator that enables robot to move dexterously like biological organ become active. Actuators are key technologies underpinning robotics. Breakthroughs in actuator technology, particular in terms of power-to-weight ratio, or energy-density, will have significant impacts upon the design and control of robotic system. In this paper, a new approach to design and control of shape memory alloy(SMA) actuator is presented to drive the robot hand. SMA wire is divided into many segments and their thermal states of the SMA are controlled individually in a binary manner. This control manner will reduce the hysteresis that the SMA material has and it becomes the fundamental technology to develop the anthropomorphic robot hand. In this paper, the mechanism In the digital step motor of the shape memory alloy that is driven by the segmented binary control, which is a new control technique, is studied. This SMA digital step actuator applies for the robot hand and the driving mechanism of the robot hand is investigated.

• 대한인간공학회지
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• 제31권6호
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• pp.725-731
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• 2012

Objective: The aim of this study is to investigate visual feedback effects and human performance in the foot mouse control. Background: Generally, computer mouse tasks are controlled by visual feedback. In order to understand the characteristics of a foot mouse control, it is important to investigate the patterns of visual feedback involved in foot-mouse control tasks. Human performance of foot mouse control is also an important factor to understand the foot mouse control. Method: Three types of mouse control were determined to investigate visual feedback effects and human performance in the foot mouse control. Visual feedback effects in the foot mouse control were compared with those of a typical hand mouse. The cursor movement speed and mental workload were measured in the three types of tasks and two types of mouses. Results: Mouse control tasks with an element of homing-in to the target were more quickly performed by the hand mouse than the foot mouse. Mental workload was also higher in the foot mouse than the hand mouse. However, in the steering movement, human performance of the foot mouse control was not lower than that of the hand mouse control. Visual feedback in the foot mouse control was less required than in the hand mouse control. Conclusion: The foot mouse was not efficient in the most mouse control tasks, compared to the hand mouse. However, the foot mouse was efficient in the steering movement, moving a cursor within a path with lateral constraints. Application: The results of this study might help to develop the foot mouse.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.300-305
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• 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.

• 한국산업융합학회 논문집
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• 제21권4호
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.831-838
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• 2009

This paper proposes an IR (infrared) LED (Light Emitting Diode)-based tactile fingertip sensor that can independently measure the normal and tangential force between the hand and an object. The proposed IR LED-based tactile sensor has several advantages over other technologies, including a low price, small size, and good sensitivity. The design of the first prototype is described and some experiments are conducted to show output characteristics of the proposed sensor. Furthemore, the effectiveness of the proposed sensor is demonstrated through anti-slip control in a multifunction myoelectric hand, called the KNU Hand, which includes several novel mechanisms for improved grasping capabilities. The experimental results show that slippage was avoided by simple force control using feedback on the normal and tangential force from the proposed sensor. Thus, grasping force control was achieved without any slippage or damage to the object.