• 한국CDE학회논문집
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• 제12권6호
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• pp.429-440
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• 2007

The purpose of this research is to develop the Human-centered CAD system in which human factors can be considered during the design stage. For this system there are several issues to research, like the digital human modeling technology, the definition of interactions between human and product, the simulation of human motion when using the product, and the bio-mechanical analysis of human, etc. This paper introduces how to construct the kinematical structure of the digital human model. For our digital human model H-ANIM, the international specification of humanoid animation is referenced. And we added the skeleton geometry and the skin surfaces to our model. And it can manipulate its joints by forward kinematics. Also the IKAN inverse kinematics algorithm is adopted to support the posture prediction of the digital human model in the product environment. All of these ideas are implemented using CAD API so that we can apply these functions to the current commercial CAD systems. In this manner, the human factor issues can be effectively taken into account at the early design phase and the costs of bio-mechanical evaluation will be significantly reduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.11-21
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• 1992

Modern manufacturing process requires machine intelligence to meet the demands for high technology products as well as intelligence-based operating skills to lessen human worker's intervene. To meet this trend there has been wide spread interest in applying artificial neural network(ANN) to the areas of manufacturing process monitoring and control. This paper addresses application problems in such processes as welding, assembly, hydroforming process and inspection of solder joints.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 춘계학술대회 논문집
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• pp.705-706
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• 2007

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2759-2764
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• 2003

Humans usually employ more joints than they actually need, and thus they can be categorized as a kinematically redundant system. Therefore, the behavior of the human body can be analyzed by several redundancy resolution algorithms. Different from typical industrial robots that are fixed to the ground, the COG/ZMP condition should be taken into account in the human body motion in order not to fall down. Thus a COG/ZMP stability index is employed as a measure of stability. Kinematic redundancy inherent in the human body can be exploited to satisfy the COG/ZMP condition. Simulation result shows that the COG/ZMP condition can be satisfied by exploiting the null space motion of the kinematically redundant human body model.

• IEIE Transactions on Smart Processing and Computing
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• 제1권1호
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• pp.1-7
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• 2012

This paper presents a system used to automatically recognize the road traffic control gestures of police officers. In this approach,the control gestures of traffic police officers are captured in the form of depth images.A human skeleton is then constructed using a kinematic model. The feature vector describing a traffic control gesture is built from the relative angles found amongst the joints of the constructed human skeleton. We utilize Support Vector Machines (SVMs) to perform the gesture recognition. Experiments show that our proposed method is robust and efficient and is suitable for real-time application. We also present a testbed system based on the SVMs trained data for real-time traffic gesture recognition.

• 산업기술연구
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• 제22권B호
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• pp.45-50
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• 2002

Airbag systems have improved the occupant safety in reducing the injuries of driver and passenger during collisions. They have occasionally caused fatalities; especially to small occupant and children. Recent airbag related fatalities of children have raised serious concerns on how to evaluate the safety of children in various crash environments. This paper present the development of the 3-year-old human model. Child human model is composed of skin, skeleton and joints. The positions of joint and mass properties of body segments are calculated from ARB(Ariticulated Rigid Body) program GEBOD. To verify the developed human model, ROM simulation and OOP simulations are conducted.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.625-626
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• 2013

본 논문에서는 Kinect 센서를 사용하여 인체의 특정 동작들을 감지는 방법을 소개하고 휴머노이드 로봇을 제어하는 방법을 소개한다. Kinect 센서의 출력을 처리하여 인체 모형을 완성하였다. 인체 모형의 각 부분의 위치 및 각도를 계산하여 특정 동작을 검출하였다.

• 한국인터넷방송통신학회논문지
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• 제21권6호
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• pp.155-161
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• 2021

최근, 실시간으로 카메라를 통해 동작을 인식하는 기술의 연구가 많이 진행되고 있다. 기존의 연구들에서는 사람의 관절로부터 특징을 추출하는 개수가 적기 때문에 동작 분류의 정확도가 낮은 한계점들이 있다. 본 논문에서는 이러한 한계점들을 해결하기 위해 움직일 때 변하는 관절의 각도를 특징 추출하여 계산하는 알고리즘과 이미지 분류 시에 정확도가 높은 CBAM(Convolutional Block Attention Module)을 사용한 분류모델을 제안한다. AI Hub에서 제공하는 피트니스 자세 이미지로부터 5가지 운동 동작 이미지를 인용하여 분류 모델에 적용한다. 구글에서 제공하는 그래프 기반 프레임워크인 MediaPipe 기법을 사용하여, 이미지로부터 운동 동작 분류에 중요한 8가지 관절 각도 정보를 추가적으로 추출한다. 추출한 특징들을 모델의 입력으로 설정하여, 분류 모델을 학습시킨다. 시뮬레이션 결과로부터 제안한 모델은 높은 정확도로 운동 동작을 구분하는 것을 확인할 수 있다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.87-90
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• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• 로봇학회논문지
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• 제5권2호
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.