• Journal of Biomedical Engineering Research
• /
• v.20 no.4
• /
• pp.485-493
• /
• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• Proceedings of the ESK Conference
• /
• 1996.10a
• /
• pp.219-224
• /
• 1996

By integrating the wired-glove and the position sensor using the magnetic fields, we developed the system which could measure the functional dimension of the hand and arm of the human. Magnetic position sensor traces the position and orientation of the arm while the wired-glove measures 18 phalangeal joint angles(including abduction between fingers, pitch and yaw of the wiist). The system could be used to monitor and quantify the functional dimension of the hand and arm and also could be used to test the product usability where the hand motion is important. Another important application lies in determining the degree of paralysis.

• Journal of the Korean Society of Clothing and Textiles
• /
• v.32 no.10
• /
• pp.1651-1658
• /
• 2008

This study was to decided the proper garment pressure level on the human body parts. Six volunteers (female: 30-40years) put on the same types of bands, a brief, and a non-woven gown. Garment pressure was measured in regular order with the elastic band on the human body parts such as the upper arm, the waist, the thigh, and the calf. At the same time, physiological responses such as the skin blood flow rate on 2 fingers, 7 different skin temperatures, rectal temperature, heat rates, and subjective responses about the pressure sensation, thermal sensation, and humidity sensation were measured and inquired. The results were as follows; 1. The thicker subcutaneous fat thickness, the higher the mean garment pressure on pressurizing the upper arm(p<.001). Also the thicker subcutaneous fat thickness. the thicker the upper arm circumference. 2. Heart rates increased pressured the upper arm and decreased pressured the waist, the thigh, and the calf. The higher the garment pressure, the higher heart rates on all body parts were pressured. Especially lean subjects showed higher physiological load than others. 3. On pressurizing the upper arm, heart rates, rectal temperature, and mean skin temperature were higher than without pressured state and pressured other body parts.4. The proper garment pressure levels were decided 30gf/$cm^2$ for fat people, 20gf/$cm^2$ for others on the upper arms and 24gf/$cm^2$ on the calf.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
• /
• v.10 no.2
• /
• pp.87-96
• /
• 2012

With a view to determine a safe speed the limit of a manipulator arm, several experiments was performed with a multi-jointed manipulator in maintenance and decommissioning tasks of nuclear facilities. Under the simulated emergency conditions, which were generated with random combinations of manipulator arm speed, failure probability and failure type, response characteristics of human operators to various malfunctions of a manipulator arm were measured in terms of reaction time, number of false alarm, and number of misses. This paper demonstrated that failure type, manipulator axes and manipulator arm speed has significant effects on human reaction time. As a whole the reaction time was slightly increased with manipulator arm speed, which is showed somewhat different pattern due to failure type. The reaction time to an axis acting on a workpiece directly, which could flex and extend, was fastest and much more its standard deviation was small. Various factors which may affect safe speed were also described.

• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.235-241
• /
• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.368-371
• /
• 2003

A new accurate and reliable human-in-the-loop control by artificial neural network (ANN) for human assistance robot was proposed in this paper. The principle of human-in-the-loop control by ANN was explained including the system architecture of human assistance robot control the design of the controller the control process as well as the switching of the different control patterns. Based on the proposed method, the control of meal assistance robot was implemented. In the controller of meal assistance robote a feedforward ANN controller was designed for the accurate position control. For safety a feedback ANN forcefree control was installed in the meal assistance robot. Both controllers have taken fully into account the influence of human arm upon the meal assistance robote and they can be switched smoothly based on the external force induced by the challenged person arm. By the experimental and simulation work of this method for an actual meal assistance robote the effectiveness of the proposed method was verified.

• Progress in Medical Physics
• /
• v.5 no.2
• /
• pp.77-85
• /
• 1994

In this paper, the vibration response characteristics of individual's subjective are studied to whole-body and hand-arm induced vibration. For defining limits of vibration exposure to human, experimental data are investigated in a set of vibration criteria specified in ISO Standard 2631. Instrumentation requirements for evaluation of the responses of humans to vibration according to these criteria are discribed.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.42 no.4 s.304
• /
• pp.11-18
• /
• 2005

For expressing intention the human often use body languages as well as vocal languages. Of course the gestures using arms and hands are the representative ones among the body languages. Therefore it is very important to understand the human arm motion in human-computer interaction. In this respect we present here how to estimate 3D pose of human arms by using computer vision systems. For this we first focus on the idea that the human arm motion consists of mostly revolute joint motions, and then we present an algorithm for understanding 3D motion of a revolute joint using vision systems. Next we apply it to estimating 3D pose of human arms using vision systems. The fundamental idea for this algorithm extension is that we may apply the algorithm for a revolute joint to each of the revolute joints of hmm arms one after another. In designing the algorithms we focus on seeking closed-form solutions with high accuracy because we aim at applying them to human computer interaction for ubiquitous computing and virtual reality.

• International Journal of Computer Science & Network Security
• /
• v.21 no.2
• /
• pp.110-119
• /
• 2021

The Coronavirus or COVID-19 is contagiousness virus that infected almost every single part of the world. This pandemic forced a major country did lockdown and stay at a home policy to reduce virus spread and the number of victims. Interactions between humans and robots form a popular subject of research worldwide. In medical robotics, the primary challenge is to implement natural interactions between robots and human users. Human communication consists of dynamic processes that involve joint attention and attracting each other. Coordinated care involves sharing among agents of behaviours, events, interests, and contexts in the world from time to time. The robotics arm is an expensive and complicated system because robot simulators are widely used instead of for rehabilitation purposes in medicine. Interaction in natural ways is necessary for disabled persons to work with the robot simulator. This article proposes a low-cost rehabilitation system by building an arm gesture tracking system based on a depth camera that can capture and interpret human gestures and use them as interactive commands for a robot simulator to perform specific tasks on the 3D block. The results show that the proposed system can help patients control the rotation and movement of the 3D arm using their hands. The pilot testing with healthy subjects yielded encouraging results. They could synchronize their actions with a 3D robotic arm to perform several repetitive tasks and exerting 19920 J of energy (kg.m².S^-2). The average of consumed energy mentioned before is in medium scale. Therefore, we relate this energy with rehabilitation performance as an initial stage and can be improved further with extra repetitive exercise to speed up the recovery process.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11a
• /
• pp.433-438
• /
• 2001

This study is performed to evaluate hand-arm vibration syndrome(HA VS) of the workers in swaging process. Vibration measurement and assessment of human exposure are based on the international standard(ISO 5349). Triaxial acceleration of each operation and exposure time are measured to predict the periods before finger blanching, As results, it is found that acceleration is concerned with the diameter of pipes in swaging process, and also found that combined work is more harmful than a single operation.