• Journal of Magnetics
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• v.22 no.1
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• pp.155-161
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• 2017

This paper presents a new nonmechanical rehabilitation system driven by magnetic force. Typically, finger rehabilitation mechanisms are complex mechanical systems. The proposed method allows wireless operation, a simple configuration, and easy installation on the hand for active actuation by magnetic force. The system consists of a driving coil, driving magnets (M1), and auxiliary magnets (M2 and M3), respectively, at the finger, palm, and the center of coil. The magnets and the driving coil produce three magnetic forces for an active motions of the finger. During active actuations, magnetic attractive forces between M1 and M2 or between M1 and M3 enhance the flexion/extension motions. The proposed system simply improves the extension motion of the finger using a magnetic system. In this system, the maximum force and angular variation of the extension motion were 0.438 N and $49^{\circ}$, respectively. We analyzed the magnetic interaction in the system and verified finger's active actuation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.768-771
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• 1997

Geometric probing addresses the problem of determining geometric aspects of a structure from the mathematics and results of a physical measuring device such as a probe. This paper presents a new algorithm to recognize the shape of an unknown object by using a robot hand with a force and torque sensor. The new algorithm is called S.E.P.(Shape Exploration Procedure) which finds the global shape of an unknown object. The proposed method is composed of three major parts, finding contact informations such as contact point, calculation of shape information such as curvature, and expression of global shape from these informations. Comparing with the conventional approaches, the advantages of the proposed method are explained and verified by conducting experiments with a 3-dof SCARA robot.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.130-137
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• 1999

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot hand. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional vurvatures is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• Journal of the Ergonomics Society of Korea
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• v.8 no.2
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• pp.3-18
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• 1989

Two sets of isometric pushing and pulling experiments were performed by two male and two female susbjects. One set of experiments involoved isometric hand pushing and pulling in a standing erect posture, in which the thigh and pelvic regions of the subjects were braced to achieve the greatest strength. Another set of experiments involved isometric hand pushing and pulling in a free posture, in which the subjects elected their preferred postures to attain the largest strength at each of thred handle heights (low-66cm ; mid-109cm ; and high-152cm). It was shown from isometric pushing and pulling experiments in a standing erect poture that the rectus abdominis and the erector spinae muscles were acting as an antagonistic pair with respect to the L5/S1 intervertebral joint, and that the integrated EMG and the muscle force were linearly related. However, the relationships between the integrated EMG and the muscle force during isometric pushing and pulling in a free posture were not well-correlated. It is proposed that the integrated EMG results should be carefully interpreted for tasks of pushing and pulling at various handle heights.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.6 s.111
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• pp.602-608
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• 2006

In order to evaluate performance of anti-vibration gloves, it is necessary to measure the transmitted vibration to the hand and the applied forces at the same time while gripping the vibrating handle. In the study a system was developed to measure both the vibration and the forces. The system consists of a measurement handle with eight strain gauges and two accelerometers and a PC-based system with a software for signal processing and evaluation of the hand-transmitted vibration and for control of applied forces in the pre-determined range. The handle was installed on the vibration shaker which is strong enough so as not to be affected by dynamic coupling with the hand-arm system. Whole procedure of ISO 10819 to determine the vibration transmissibility of anti-vibration gloves was programmed into the system. As an example of the application, three subjects joined the test to get vibration transmissibilities of anti-vibration gloves where each glove was tested twice a subject. Average and standard deviation of vibration transmissibility were also calculated.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.848-849
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• 2011

Rotating machines are using gears to change the rotary motion into the linear motion, on the other hand, linear motors have a accurate position control and excellent dynamic characteristics because of generating a thrust force directly. But the important problem, one of the linear motor is a high thrust force ripple. Thrust force ripple has a bad effect on the position accuracy and the dynamic characteristics, so it is necessary to reduce the thrust force ripple. Cogging is one of the cause that affect thrust force ripple. Cogging has some connection with the GCD between pole pitch and teeth pitch It is proposed method to reduce a thrust ripple of the linear motor that chamfering, skew, and so on. In this paper, the module phase set shift(MPSS) is used to reduce a thrust force ripple that has a similar effect to skew. And propose a method that reduce a thrust force ripple more by use of chamfering.

• Smart Structures and Systems
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• v.31 no.3
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• pp.229-245
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• 2023

The absence of excitation measurements may pose a big challenge in the application of structural damage identification owing to the fact that substantial effort is needed to reconstruct or identify unknown input force. To address this issue, in this paper, an iterative strategy, a synergy of Tikhonov regularization method for force identification and modified Jaya algorithm (M-Jaya) for stiffness parameter identification, is developed for damage identification with partial output-only responses. On the one hand, the probabilistic clustering learning technique and nonlinear updating equation are introduced to improve the performance of standard Jaya algorithm. On the other hand, to deal with the difficulty of selection the appropriate regularization parameters in traditional Tikhonov regularization, an improved L-curve method based on B-spline interpolation function is presented. The applicability and effectiveness of the iterative strategy for simultaneous identification of structural damages and unknown input excitation is validated by numerical simulation on a 21-bar truss structure subjected to ambient excitation under noise free and contaminated measurements cases, as well as a series of experimental tests on a five-floor steel frame structure excited by sinusoidal force. The results from these numerical and experimental studies demonstrate that the proposed identification strategy can accurately and effectively identify damage locations and extents without the requirement of force measurements. The proposed M-Jaya algorithm provides more satisfactory performance than genetic algorithm, Gaussian bare-bones artificial bee colony and Jaya algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.147-152
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• 2016

Shape Memory Alloys (SMAs) undergo changes in shape and hardness when heated or cooled, and do so with great force. Since wire-type SMAs contract in length when heated and pull with a surprisingly large force and move silently, they can be used as actuactors which replace motors. These SMA actuators can be heated directly with electricity and can be used to create a wide range of motions. This paper presents the mechanical design and control for a three fingered, six degree-of-freedom robotic hand actuated by SMA actuators. Each finger has two joints and each joint is actuated with two tendons in the antagonistic manner. In order to create the sufficient force to make the smooth motion, the tendon is composed of two SMA actuators in parallel. For controlling the current to heat the SMA actuators, PWM drivers are used. In experiments, the antagonistic interaction of fingers are evaluated.