• 한국정밀공학회지
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• 제10권4호
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• pp.200-205
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• 1993

In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.276-280
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• 1993

An articulated, multifinger mechanical hand can carry out grasping and manipulation operations on objects of different type and shape. In this paper the architecture of the mechanical hand is presented. Joints are driven by two antagonist tendons. Strain gauges are used to derive tendon tensions, and located in the palm of the hand. Angular defection of the joints is measured by Hall effect sensors attached to the joints. A multiprocessor-based architecture for controlling the hand is illustrated.

• 한국조경학회지
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• 제31권3호
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• pp.17-33
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• 2003

This study focuses on design method of the memorial park for the improvement of the funeral culture in Korea. Through the comparative analysis between domestic and overseas cases, this study articulates the issues that should be taken into consideration in the design of memorial park and categorizes such issues in accordance with their types. According to comparative analysis, the characteristics of domestic and overseas cases can be summed up as follows. Most of the overseas cases can be characterized with creative concepts and images in their designs because designs are not only based on the issues articulated in this study but also show a various patterns issue by issue. On the other hand, domestic cases do not show differentiated images from others, which results from the uniform design that disregards the issues articulated in this study. The memorial park for the future should be designed to play a significant role of citizens´ park under the new conceptual framework. Therefore, the issues articulated from this study should be reflected in the design of memorial park. In addition, various types by issue should be introduced to design of memorial park. The purpose of this study is to suggest basic criteria for the design of future pattern, not simply to compare the strength and weakness of different types. This study has a limitation in that it does not offer comprehensive information of what types of memorial park will coincide with the Korean's collective sentiment. Therefore, impending tasks of further researches should involve the opinion and preferences of citizens concerning the design of memorial park.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2000년도 7월 학술대회지
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• pp.178-178
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• 2000

This paper IS concerned with adults' foreign language aquisition and intends to research the relationship between the mother tongue's phonetic system (L1) and the perception of the foreign language (L2), in this paper Polish and Korean. The questions that are to help to define the aforementioned relationship are I) how Polish perceive Korean vowels, 2) how Koreans perceive Polish vowels, and 3) how Koreans perceive Korean vowels pronounced by Poles. In order to identify L2's vowels, the listeners try to fit them into the categories of their own language (L1). On the one hand, vowels that are the same in both languages and those that are articulated where no other vowel is articulated, have the best rate of recognition. For example, /i/ in both languages is a front close vowel and in both languages there are no other front close vowels. Therefore, vowels /i/ (and /a/) have the best rate of recognition in all three experiments. On the other hand, vowels that are unfamiliar to the listeners do not seem to have the worst rate of recognition. The vowels that have the worst rate of recognition are those, that are similar, but not quite the same as those of L1. This research proves that "equivalence classification prevents L2 learners from producing similar L2 phones, but not new L2 phones, authentically" (Flege, 1987). Polish speakers can pronounce unfamiliar L2 vowels "more authentically" than those similar to L1 vowels. However, the difference is not significant and this subject requires further research (different data, more informants).

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권8호
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• pp.3136-3150
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• 2015

A vision-based 3D tracking of articulated human hand is one of the major issues in the applications of human computer interactions and understanding the control of robot hand. This paper presents an improved approach for tracking and recovering the 3D position and orientation of a human hand using the Kinect sensor. The basic idea of the proposed method is to solve an optimization problem that minimizes the discrepancy in 3D shape between an actual hand observed by Kinect and a hypothesized 3D hand model. Since each of the 3D hand pose has 23 degrees of freedom, the hand articulation tracking needs computational excessive burden in minimizing the 3D shape discrepancy between an observed hand and a 3D hand model. For this, we first created a 3D hand model which represents the hand with 17 different parts. Secondly, Random Forest classifier was trained on the synthetic depth images generated by animating the developed 3D hand model, which was then used for Haar-like feature-based classification rather than performing per-pixel classification. Classification results were used for estimating the joint positions for the hand skeleton. Through the experiment, we were able to prove that the proposed method showed improvement rates in hand part recognition and a performance of 20-30 fps. The results confirmed its practical use in classifying hand area and successfully tracked and recovered the 3D hand pose in a real time fashion.

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.327-332
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• 2000

In this paper, a new multi-fingered robot hand using ultrasonic motors and its control system are developed. The developed robot hand has four fingers and fifteen articulated joints. The distal joint of each finger is directly driven by ultrasonic motor and all joints except the distal joint has low transmission gear mechanism with the motor. The developed robot hand has several advantages in size compared to a hand using conventional DC motors, and in performance compared to a hand using tendons to drive joints. A VME-bus based hand control system and ultrasonic motor driver are also developed. The performance of the hand is confirmed by using the developed control system in real-time.

• 전자공학회논문지C
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• 제34C권2호
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• pp.61-70
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• 1997

Human-hand gestures have been used a means of communication among people for a long time, being interpreted as streams of tokens for a language. The signed language is a method of communication for hearing impaired person. Articulated gestures and postures of hands and fingers are commonly used for the signed language. This paper presents a system which recognizes the korean sign language (KSL) and translates the recognition results into a normal korean text and sound. A pair of data-gloves are used a sthe sensing device for detecting motions of hands and fingers. In this paper, we propose a dynamic gesture recognition mehtod by employing a fuzzy feature analysis method for efficient classification of hand motions, and applying a fuzzy min-max neural network to on-line pattern recognition.

• 한국컴퓨터그래픽스학회논문지
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• 제3권1호
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• pp.1-7
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• 1997

사실감있는 인체 모델과 동작제어 기술은 컴퓨터 그래픽스와 가강현실감 등의 다양한 응용 분야에서 이용되고 있다. 인체는 다관절 구조로서 관절체 구조로 인체를 모델링하고 운동학에 기반하여 각 관절을 제어하여 인체의 동작을 생성한다. 사람의 손은 작고 많은 여러개의 관절로 이루어지며 각 관절에서의 다양한 자유도를 가지고 있다. 본 논문에서는 손의 관절체 모델을 구성하고 실제 사람의 손과 유사한 동작을 생성할 수 있도록 관정에 대한 구속조건(constraints)을 부여하였다. 구속조건은 각 관절의 움직임의 범위를 구속하는 정적구속조건과 한 관절의 움직임에 대한 다른 관절의 상대적 움직임을 구속하는 동적구속조건으로 구분된다. 구속조건에 따른 다양한 손의 움직임을 실험해 보았다.

• 한국정밀공학회지
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• 제15권12호
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• pp.142-147
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• 1998

Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

• 대한기관식도과학회지
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• 제17권2호
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• pp.83-88
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• 2011

Robotic thyroidectomy has been developed to minimize neck scarring, and several authors have described its feasibility and safety, and have reported surgical outcomes comparable with conventional open thyroidectomy. The da Vinci surgical system robot provides a three-dimensional $10-12{\times}$magnified view of the surgical area. It also provides hand-tremor filtration, fine motion scaling, and precise and multi-articulated hand-like motions. Recently, robotic technology has also been applied to lateral compartment neck dissection in thyroid cancer. We have developed a new novel selective neck dissection procedure by a gasless unilateral axillo-breast (GUAB) approach with a da Vinci Surgical System for well-differentiated thyroid carcinoma to avoid a long visible neck scar. Based on our early experience, robotic selective neck dissection by GUAB approach is a safe, feasible and cosmetically excellent procedure. It can be an alternative to conventional open surgery in the highly selected patients with well-differentiated thyroid carcinoma. The oncologic safety of robotic selective neck dissection should be verified with long-term follow-up data.