• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.1 s.94
• /
• pp.42-48
• /
• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• Journal of the Korean Society of Industry Convergence
• /
• v.18 no.3
• /
• pp.167-172
• /
• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• Journal of Convergence for Information Technology
• /
• v.10 no.6
• /
• pp.19-27
• /
• 2020

In this study, Developing high resolution camera and Social Network Service sharing image can be easily getting images, it cause about taking fingerprints to easy from images. So I present solution about prevent to taking fingerprints. this technology is develop python using to opencv, blur libraries. First of all 'Hand Key point Detection' algorithm is used to locate the hand in the image. Using this algorithm can be find finger joints that can be protected while minimizing damage in the original image by using the coordinates of separate blurring the area of fingerprints in the image. from now on the development of accurate finger tracking algorithms, fingerprints will be protected by using technology as an internal option for smartphone camera apps from high resolution images.