• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.1
• /
• pp.89-96
• /
• 2009

This paper describes the intelligent robot's hand with three finger sensors for a humanoid robot. In order to grasp an unknown object safely, the intelligent robot's hand should measure the mass of the object, and determine the grasping force using the mass, finally control the grasping force using the finger sensors and the controller. In this paper, the intelligent robot's hand for a humanoid robot was developed. First, the six-axis force/moment sensor was manufactured. second, three finger force sensors were designed and fabricated, third, the high-speed controller was manufactured using DSP(digital signal processor), finally, the characteristic test for determining a grasping force and for grasping an unknown object safely It is confirmed that the hand could grasp an unknown object safely.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1997.10a
• /
• pp.48-53
• /
• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.751-752
• /
• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.1013-1014
• /
• 2010

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.37 no.3
• /
• pp.237-242
• /
• 2013

This paper proposes a thermal peripheral blood flowmeter integrated with a force sensor that is capable of contact force compensation. We fabricate this blood flowmeter using a nickel RTD (resistance temperature detector) and piezoresistive force sensor by using microfabrication technology. In an experiment, we obtained a decreasing trend for the blood flow under an increasing contact force with a linear tendency of 31.7%/N. We then performed a compensation process based on this obtained trend. As a result, the maximum variance in the blood flow at 1-3N was 9.8%. Thus we achieved consistent blood flow measurement independent of the contact force. In this work, we verified that the thermal blood flowmeter integrated with a force sensor has the ability to accurately measure the blood flow independent of the contact force.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.56 no.1
• /
• pp.214-221
• /
• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.73-76
• /
• 2005

Carbon nanotubes (CNTs) have attracted an increasing attention due to their superior mechanical properties and potential application in industries. The strength of CNT has been predicted or calculated through several simulation techniques but actual experiments on stress-strain behavior are rare due to its dimensional limit, nanoscale positioning/manipulation, and instrumental resolution. We have attempted to observe straining responses of a multi-walled carbon nanotube (MWNT) by performing an in-situ tensile testing in a scanning electron microscope. The carbon nanotube, having its both ends attached on a cantilever force sensor and Y-shaped support, was elongated by a computer-controlled nanomanipulator. Linear deformation and fracture behaviors of MWNT were successfully observed and its force-displacement curve was also measured from the bending stiffness and displacement of the force sensor and manipulator.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.5
• /
• pp.413-420
• /
• 2015

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2004.10a
• /
• pp.485-489
• /
• 2004

Cutting force is important to understand cutting process in milling. To measure cutting force, tool dynamometer is widely used but it is hard to apply in workshop condition. Cutting force measurement which doesn't affect cutting process is needed. Using relations between cutting force and spindle displacement, cutting force can be predicted. Cylindrical capacitive sensor was used to measure spindle displacement during cutting. And signals from tool dynamometer collected to compare with spindle displacement. The result shows spindle displacement has a linear relation with cutting force. Using this result, a simple method to predict cutting force could be applied at workshop condition.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.40 no.2
• /
• pp.207-216
• /
• 1991

In the case that the robot manipulator should respond to the variance and uncertainty of the environment in performing preforming precision tasks, it is indispensable that the robot utilizes the various sensors for intrlligence. In this paper, the robot force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator for performing the various application tadks. The hybrid position/force control method is used to control the force and position axis separately. An interface board is designed to read the force/torque sensor output into the computer. Since the two computers should exchange the information quickly, a common memory board is designed. Before the algorithms of application tasks are developed, the basic force commands must be supplied. Thus, the MOVE-UNTIL command is used at the discrete time instant and, the MOVE-COMPLY is used at the continuous time instant for receiving the force feedback information. Using the two basic force commands, three application algorithms are developed and implemented for edge-following, insertion, and grinding tasks.