• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.5
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• pp.8-15
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• 2011

The goal of this paper is to describe how to construct an integrated simulation system that integrates limited perception-based mapping with spatial reasoning, path planning, and human motion style in order for a virtual soldier to effectively communicate with other virtual solders and/or human participants in a simulation. Virtual human research often ignores or simplifies perception by using a full map (with omniscient perception). In addition, previous research used a placement node where virtual environment designers save in advance the required information. However, this paper also shows that the human-like movement behavior can be achieved by the integrated ECA system with the mapping that supports a spatial understanding and does not require the omniscient perception.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.2-85
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• 2002

If a biped humanoid robot walks stably on even and uneven planes like a human being, it should have a control system capable of compensating for moments generated by motions of its lower-limbs, upper-limbs and head. In this paper, a compensatory motion control method is described for the stability of biped humanoid robots. This control method calculates the combined motion of the trunk and the waist that cancels the generated moments by using an iteration algorithm. During the biped walking, the combined motion is employed only for stability while the motion of the lower-limbs is used only for locomotion. This method is useful for not only a steady walking but also a transient walking. The e...

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Science of Emotion and Sensibility
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• v.20 no.1
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• pp.17-30
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• 2017

Lots of interdisciplinary studies for fusion of high technologes and the other areas of research had been tried in these days. In sports training area, high technologies like a vital sign sensor or an accelerometer were adopted as training tools to improve the performance of the sports players. The purpose of this study is finding the proper locations on the human body for attaching the motion sensors in order to develop a smart sportswear which could be helpful in training players. The rowing was selected as a subject sport as lots of movements of the joint on human body could be seen in rowing motions. The players of rowing could be devided into two weight divisions, the lightweight and the heavyweight. In this study, the change rates of distance between markers on human skin as the players moved were took on the back, the elbow, the hip and the knee area on human body by 3D motion capturing system. The distances between markers and the differences between the lightweight and heavyweight were analyzed. Finally, this study provided the guide lines for designing a motion sensing smart sportswear.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.193-204
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• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.

• Journal of IKEEE
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• v.24 no.4
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• pp.1109-1116
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• 2020

The matching score evaluating human copying ability can be a good measure to check children's developmental stages, or sports movements like golf swing and dance, etc. It also can be used as HCI for AR, VR applications. This paper presents a method to evaluate the motion similarity between demonstrator who initiates movement and participant who follows the demonstrator action. We present a quantification method of the similarity which utilizes Euclidean L2 distance of Openpose keypoins vector similarity. The proposed method adapts DTW, thus can flexibly cope with the time delayed motions.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.4
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• pp.706-713
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• 1997

In this paper, we propose a band stop filter(BSF) for reducing drag-like effect of the low pass filter(LPF), a block by block adaptive filtering method, and a motion adaptive filtering method, which show better results in terms of PSNR or human visual perception compared to the conventional method using LPF. The BSF improves the draglike effects of the low pass filter by passing temporal high frequency components of video sequences which correspond to objects with large motion. The proposed adaptive methods also improve the conventional adaptive filtering by modifying the conventional algorithm and applying the algorithms for small blocks. The simulation results show that the proposed filtering methods show better results in terms of PSNR and subjective tests in most cases. Also in case of block by block adaptive filtering, it is verified that the application of the algorithm for smaller block gives better results.

• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.35-42
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• 2022

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

• Structural Engineering and Mechanics
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• v.63 no.6
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• pp.771-777
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• 2017

The applications of smartphones or other portable smart devices have dramatically changed people's lifestyle. Researchers have been investigating useage of smartphones for structural health monitoring, earthquake monitoring, vibration measurement and human posture recognition. Their results indicate a great potential of smartphones for measuring pedestrian-induced loads like walking, jumping and bouncing. Smartphone can catch the device's motion trail, which provides with a new method for pedestrain load measurement. Therefore, this study carried out a series of experiments to verify the application of the smartphone for measuring human-induced load. Shaking table tests were first conducted in order to compare the smartphones' measurements with the real input signals in both time and frequency domains. It is found that selected smartphones have a satisfied accuracy when measuring harmonic signals of low frequencies. Then, motion capture technology in conjunction with force plates were adopted in the second-stage experiment. The smartphone is used to record the acceleration of center-of-mass of a person. The human-induced loads are then reconstructed by a biomechanical model. Experimental results demonstrate that the loads measured by smartphone are good for bouncing and jumping, and reasonable for walking.