• Journal of KSNVE
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• v.6 no.5
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• pp.555-565
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• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.94-103
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• 1996

This paper is concerned with the theroretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is uniform flexible cantilever beam equipped with a distributed set of compact grasping force secnsors. Control action is applied by a qiexoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem which the finger is commanded to grasp an object The PID-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.9
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• pp.831-837
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• 2015

Many persons and electronic devices are exposed to electromagnetic (EM) waves generated from magnetic resonance imaging (MRI) equipment, EM pulses (EMPs), and many other kinds of EM wave devices. Finger strips are used to provide shielding from these EM waves. Because of the high thermal conductivity of finger strips, they are used in the design of specialized doors that are installed in shielded rooms. In this study, we perform an accelerated life test using the load acceleration stress, which affects the main failure mode of finger strips. We predict the life of the finger strip under normal usage conditions based on the results of the accelerated life test. We compare the results with those predicted from the life test under normal usage conditions to evaluate the validity of accelerated life testing.

• Tribology and Lubricants
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• v.28 no.5
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• pp.240-245
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• 2012

In this study, we developed a new carrier finger to prevent scratches in a sheet metal forming line. The developed carrier finger was designed to have a streamlined shape with a larger radius of curvature at the edges, as well as a smaller contact area. To evaluate the scratch alleviation effect, a sliding contact analysis and scratch test using the pin on a plate wear tester were conducted for both the old and new carrier fingers. The results show that, for both transverse and longitudinal movements of the strip, the newly designed carrier finger reduces both the friction and scratch depth by its streamlined shape, which decreases the pressure spike at the edge.

• Fashion & Textile Research Journal
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• v.24 no.3
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• pp.333-345
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• 2022

This study developed and evaluated the motion control of 3D printed fingers applied to smart gloves. Four motions were programmed by assembling the module using the Arduino program: cylindrical grasping, spherical grasping, tip-to-tip pinch gripping, and three-jaw pinch gripping. Cap and re-entrant (RE) strip types were designed to model the finger. Two types of modeling were printed using filaments of thermoplastic elastomer (TPE) and thermoplastic polyurethane (TPU). The prepared samples were evaluated using three types of pens for cylidrical grasping, three types of balls for spherical grasping, and two types of cards for tip-to-tip pinch gripping and three-jaw pinch gripping. The motion control of fingers was connected using five servo motors to the number of each control board. Cylindrical and spherical grasping were moved by controlling the fingers at 180° and 150°, respectively. Pinch gripping was controlled using a tip-to-tip pinch motion controlled by the thumb at 30° and index-middle at 0° besides a three-jaw pinch motion controlled by the thumb-index finger-middle at 30°, 0°, and 0°, respectively. As a result of the functional evaluation, the TPE of 3D-printed fingers was more flexible than those of TPU. RE strip type of 3D-printed fingers was more suitable for the motion control of fingers than the 3D-printed finger.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1808-1813
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• 2005

In this paper, we present the finger tip tactile sensor which can detect contact normal force as well as slip. The developed sensor is made of two different materials, such as polyvinylidene fluoride(PVDF) that is known as piezoelectric polymer and pressure variable resistor ink. In order to detect slip to surface of object, a PVDF strip is arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, we developed a tactile sensing system by miniaturizing the charge amplifier, in order to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.10
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• pp.1171-1177
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• 2014

An electromagnetic shielding doorset must satisfy requirements associated with both mechanical strength/durability and electromagnetic shielding. Among the primary components of the doorset, a finger strip-a leaftype spring normally made of beryllium copper-is a core part to shield electromagnetic waves as well as to endure repetitive dry sliding friction. This study presented a reliability demonstration test method for the doorset system and, by a simple and simultaneous implementation, of the replacement interval of the finger strip. A rigorous evaluation for the qualification of maintenance or replacement interval is included in the reliability demonstration test of any series system that holds critical maintenance sub-units.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.364-372
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• 2006

In this paper, we present a finger tip tactile sensor which can detect contact normal force as well as slip. The sensor is made up of two different materials, such as polyvinylidene fluoride (PVDF) known as piezoelectric polymer, and pressure variable resistor ink. In order to detect slip on the surface of the object, two PVDF strips are arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, a tactile sensing system is developed, which includes miniaturized charge amplifier to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.5
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• pp.28-34
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• 2008

The real-time biomedical signal monitoring is a very important factor to realize the ubiquitous healthcare environment. Most of these devices for monitoring the biomedical information get the PPG signal from the user, and these signals are utilized for monitoring their health. It is inconvenient to get the PPG because the user should wear the finger probe with his finger for measuring the PPG signal. Also it is difficult to get the PPG correctly, because of the motion artifacts from the movement of the user. In this paper, we develop the watch type biomedical signal monitoring system without the finger probe, and propose the new algorithm for reducing the motion artifacts from the PPG signal. We designed the system which gets the PPG from the sensor on the wrist band strip. As compared with the finger probe type, this system we proposed is more affected by the motion artifacts. So to filter this motion artifacts, we propose the new method; the improved PMAF(Periodic Moving Average Filter) method.

• Reproductive and Developmental Biology
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• v.33 no.3
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• pp.183-187
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• 2009

This study analyzed change of proteins in granulosa cells during the porcine follicuar development by proteomics techniques. Granulosa cells of the follicles, of which the diameter is $2{\sim}4\;mm$ and $6{\sim}10\;mm$, were collected from ovary of slaughtered pig that each follicle of diameter $1{\sim}4\;mm$ and $6{\sim}10\;mm$. We extracted glanulosa cell proteins by M-PER Mammalian Protein Extraction Reagent. Proteins were refined by clean-up kit and quantified by Bradford method until total protein was $200{\mu}l$. Immobilized pH gradient(IPG) strip used 18 cm, $3{\sim}10\;NL$. SDS-PAGE used 10% acrylamide gel. After silver staining, Melanie 7 and naked eye test were used for spot analyzation. Increasing proteins in glanulosa cell of $6{\sim}10\;mm$ follicle were 7 spots. This spots were analyzed by MALDI-TOF MS and searched on NCBInr. In results, 7 spots were similar to zinc/ling finger protein 3 precursor (RING finger protein 203), angiomotin, heat shock 60 kDa protein 1 (chaperonin) isoform 1 (HSP60), similar to transducin-like enhancer protein 1 (TLE 1), SH3 and PX domains 2A (SH3PXD2A). Those proteins were related with transfer between cells. Increase of proteins has an effect on follicular development.