• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1995년도 춘계학술대회논문집
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• pp.55-61
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• 1995

We spend about 40% of lifte time on a bed and seek how such amount of time is spent comfort. Bed comfort has been pursuited. The pressure distributions on a bed by body pressure has been considered as one of the most important factors of bed comfort. This study is to quantify the subjective assessment by the body pressure distribution and develop the objective evaluation method of bed comfort. A new measurement system for body pressure on a bed was developed in this study. The thin film pressure sensor (FSR: Force Sensing Resistor) of an elastomer-type was used to prevent the distortion of contact pressure. The pressure distribution is measured by FSR and displayed on the monitor by color-coded contour patterns. Some of the bed test results were described. And the relations between body pressure distribution and bed comfort were evaluated.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 춘계학술대회 논문요약집
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• pp.194-194
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• 2004

개인용 로봇의 촉각기능을 담당할 수 있는 유연성 기반 인공피부센서 시스템을 설계 및 제작하였다. 수직력을 측정할 수 있는 64 개의 FSR 센서(Techstorm Co.)와 전단력을 동시에 측정할 수 있는 1 개의 PVDF 필름(PSI Co.)을 융합하여 인공피부센서 시스템을 제작하였다 제작된 촉각센서는 10 cm x 10 cm 크기로 임의의 물체가 접촉할 경우 형상을 측정할 수 있으며 또한 물체표면의 거칠기 상태를 판단할 수 있다. 한편, 3축 로드셀 기반 평가 시스템을 제작하여 센서의 수직력을 평가하였으며 PVDF 필름을 통한 접촉하는 대상의 거칠기 평가는 주파수 분석으로 평가하였다.(중략)

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2018년도 춘계 종합학술대회 논문집
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• pp.69-70
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• 2018

최근 각종 IT제품을 사용하는 사람들이 증가하면서, 양손 사용의 자율성과 효율적인 수납공간을 가진 백팩의 수요가 증가하고 있다. 하지만 장시간 백팩 사용으로 인해 척추나 어깨, 목 등의 부담을 호소하는 사람도 늘어나는 추세이다. 이러한 점을 바탕으로 백팩 사용자의 양 어깨끈과 어깨 사이의 압력을 측정하고, 이 측정값을 통해 척추나 어깨의 부담에 대한 솔루션을 제공할 수 있는 사물인터넷 기반 백팩 헬스케어 앱을 제안하였다. 본 연구의 결과로 백팩 사용자들이 스스로 헬스케어를 할 수 있도록 도와 척추나 어깨의 부담으로 인한 질병 예방에 활용될 수 있을 것으로 기대한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1272-1277
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• 2005

In this study, we wolud be developed the fuzzy controlled PGO that controlled the flexion and the extension of each PGO's joint using the bio-signal and FSR sensor. The PGO driving system is to couple the right and left sides of the orthosis by specially designed hip joints and pelvic section. This driving system consists of the orthosis, sensor, control system. An air supply system of muscle is composed of an air compressor, 2-way solenoid valve(MAC, USA), accumulator, pressure sensor. Role of this system provide air muscle with the compressed air at hip joint constantly. According to output signal of EMG sensor and foot sensor, air muscles and assists the flexion of hip joint during PGO gait.

• 한국운동역학회지
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• 제15권2호
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• pp.113-117
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• 2005

As a preliminary study of finding the relationship between the force at the grip and the success rate during putting stroke, the putting grip sensor system using FSR sensors was developed. The system consisted of the hardware which had the sensor part with 8 sensors per putting glove and data acquisition part as well as the software which had the real-time monitoring program and the offline post-processing program. After experiments with elite-golfer using this system, it is possible to suggest the proper force ranges at the grip during putting stroke.

• 로봇학회논문지
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• 제17권2호
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• pp.152-158
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• 2022

As various mobile robots and manipulator robots have been commercialized, robots that can be used by individuals in their daily life have begun to appear. With the development of robots that support daily life, the interaction between robots and humans is becoming more important. Manipulator robots that support daily life must perform tasks such as pressing buttons or picking up objects safely. In many cases, this requires expensive multi-axis force/torque sensors to measure the interaction. In this study, we introduce a low-cost two-axis pressure sensor that can be applied to manipulators for education or research. The proposed system used three force sensitive resistor (FSR) sensors and the structure was fabricated by 3D printing. An experimental device using a load cell was constructed to measure the biaxial pressure. The manufactured prototype was able to distinguish the +-x-axis and the +-y-axis pressures.

• 한국항공우주학회지
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• 제32권5호
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• pp.50-57
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• 2004

본 논문에서는 스마트 구조의 건전성 모니터링에 사용하기 위한 고주파 진동 검출용 브래그 격자 센서시스템의 개발에 대해 설명하였다. 하나의 복조기 (demodulator)를 이용하여 복수의 브래그 격자 센서의 신호를 복조화 하기 위해 좁은 파장간격 (FSR) 을 갖는 가변 패브리-폐로 필터를 이용하였으며, 복조화에 사용되는 협대역 필터의 투과 파장을 능동적으로 제어함으로써 브래그 격자 진동센서의 민감도를 항상 최대로 유지하기 위한 센서시스템 안 정화 장치를 개발하였다. 개발된 브래그 격자 센서시스템의 성능 검증을 위해 민감도 측정 시험을 하였으며, 시험결과 평균 2.56 $n{\in}_{mas}/{\sqrt{Hz}}$의 민감도를 얻었다. 최종적으로 다중화된 브래그 격자 센서의 동시다점 진동취득 시험을 실시하여 본 시스템의 유효성을 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2433-2435
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• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.467-470
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• 1990

This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.