• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.202-207
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• 1993

A theoretical and experimental study is presented for the force holding control of a miniature robotic ringer which is driven by a pair of piezoelectric unimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilever with a tactile force sensor at the tip and the mate of the finger is a solid beam supposed with sufficient stiffness. Further, the force sensor is modeled by a one-degree-of-freedom, mass-spring system and the output of sensor is then described by the sensor stiffness multiplied by the relative displacement. The problem investigated in this paper is that two typical holding tasks of the human finger are picked up and applied to the robotic finger. One is the work holding a stationary object with a prescribed, time-varying force and the other one is to keep the contacted force constant even if the object is in motion. The simple PID feedback control scheme is used to control the minute gripping force of order 0.01 Newton. It is shown both experimentally and theoretically that the artificial finger with the piezoelectric actuator works well in the minute force holding of the tiny object.

• Journal of information and communication convergence engineering
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• v.9 no.3
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• pp.325-330
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• 2011

Due to the wide growth and popularity of social network website, large numbers of users discover these social network sites are a place where they can be able to spend their leisure time sharing interests, sharing ideas freely, sharing personal experience, and also to search for new friends or partners. These websites give an opportunity for its users to socialize with new people and to keep in touch or reconnect with current or old friends and families across disperse continents, which traditionally replace the common traditional methods. These social network websites need accurate and careful investigations and findings on the usability issues for effective interactivity and more usability. However, little research might have previously invested on the usability of these social network websites. Therefore, we propose a new framework to study and test the usability of these social network sites. We namely call our framework "Interactivity". This framework will enable developers to assess the usability of the social network sites. It will provide an overview of the user's behavior while interacting in these social network websites. Performance of the framework will be performed using Camtasia software. This software will entirely capture the interactivity of users including the screen and the movements, which the screen and the motion of the user action will undergo to analysis at the end of our research.

• Fashion & Textile Research Journal
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• v.15 no.6
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• pp.1000-1009
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• 2013

Well-fitting riding breeches provide a comfortable ride. Horse-riding breeches should fit the lower body with patches located on the inside of hip and knees to prevent tears and slips. This study provides information about the fit of women's breeches using 3D human body scan data wearing commercially available two breeches according to posture. To get information about breeches fit, we measured the angle of waist line, the length, and the area of the breeches fit on four 20's women. This research showed the problem which was down for waist back line in the case of the horseback riding pose. The back waistline of the riding breeches should be raised compared to the front waistline; subsequently, an increased waistline angle results in less back waistline decrease. The breeches have plenty of length from back waist to crotch so the breech fit can be improved. The thigh circumference increased when riding in the front; therefore, good elasticity of the weft direction of the fabric is recommended. The length increase and the peripheral increase of the front knee significantly increased the surface area of the knee; consequently, knee patch material should be a two-way elastic fabric in all directions to enhance comfort according to riding motion.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.1
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.196-201
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• 2016

This paper analyses the characteristics of a stiffness-based rehabilitation mechanism for improving the function of the elbow joint of a human. We consider an elastic string as a tool for the elbow joint rehabilitation, where the string has been modeled as a linear spring with a stiffness. For effective rehabilitation training by using such a mechanism, we need to analyse the available torque characteristics of the elbow joint according to the stiffness of the string. Through various simulations, the torque pattern and its range of the elbow joint by assigning the stiffness of the string have been identified for a pre-defined trajectory of motion of the elbow joint. Finally, we show that the specified stiffness-based rehabilitation scheme can be used for effective rehabilitation of the elbow joint.

• The Research Journal of the Costume Culture
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• v.18 no.6
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• pp.1063-1075
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• 2010

Studying awareness, importance, satisfaction, and wearing behavior of functional textiles for active silver generation related with gender and age is expected to contribute to clothing products development to improve and maintain their health and marketing strategy fit for user characteristics. For empirical research, a survey was developed and the aged 50 and above were 332 respondents. The results of the study are as follows. First, silver generation considered all the clothing comfort sensations important when wearing clothes, such as tactile sensation, clothing pressure sensation, thermal/wet sensation, and motion sensation in human physiological aspect. Also, stretchy fabrics were ranked first in awareness, the number of wearing times, and satisfaction of comfort functional fabrics. More than 30% of silver generation have fifteen items out of 36 functional clothes. Second, in analysis of awareness by gender on functional clothing products, women were more aware of health/safety-oriented fabrics than men were. Otherwise, men had more knowledge about the water-related properties of functional fabrics than women have, such as water/moisture absorptive and water-repellent/vapor permeable fabrics. While women have more indoor casual wear, men had more active sportswear. Also, women expressed a strong preference to the stretchy function of fabrics.

• Journal of the Ergonomics Society of Korea
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• v.31 no.4
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• pp.475-481
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• 2012

Objective: The aim of this study is to make the taxonomy for classifying diverse touchless gestures and establish the design requirements that should be considered in determining suitable gestures during gesture-based interaction design. Background: Recently, the applicability of touchless gestures is more and more increasing as relevant technologies are being advanced. However, before touchless gestures are widely applied to various devices or systems, the understanding on human gestures' natures and their standardization should be prerequisite. Method: In this study, diverse gesture types in various literatures were collected and, based on those, a new taxonomy for classifying touchless gestures was proposed. And many gesture-based interaction design cases and studies were analyzed. Results: The proposed taxonomy consisted of two dimensions: shape (deictic, manipulative, semantic, or descriptive) and motion(static or dynamic). The case analysis based on the taxonomy showed that manipulative and dynamic gestures were widely applied. Conclusion: Four core requirements for valuable touchless gestures were intuitiveness, learnability, convenience and discriminability. Application: The gesture taxonomy can be applied to produce alternatives of applicable touchless gestures, and four design requirements can be used as the criteria for evaluating the alternatives.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• Journal of Biomedical Engineering Research
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• v.27 no.5
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• pp.237-244
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• 2006

This study proposes an approach to the performance improvement of EMG(Electromyogram) pattern recognition. MFCC(Mel-Frequency Cepstral Coefficients)'s approach is molded after the characteristics of the human hearing organ. While it supplies the most typical feature in frequency domain, it should be reorganized to detect the features in EMG signal. And the dynamic aspects of EMG are important for a task, such as a continuous prosthetic control or various time length EMG signal recognition, which have not been successfully mastered by the most approaches. Thus, this paper proposes reorganized MFCC and HMM-GMM, which is adaptable for the dynamic features of the signal. Moreover, it requires an analysis on the most suitable system setting fur EMG pattern recognition. To meet the requirement, this study balanced the recognition-rate against the error-rates produced by the various settings when loaming based on the EMG data for each motion.