• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.670-673
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• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• Proceedings of the Korean Information Science Society Conference
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• 2008.06c
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• pp.478-481
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• 2008

기존 핑거 트래킹(Finger Tracking)을 수행하는데 있어 핑거팁(Finger-tip)을 구하는 방법 중 가장 일반적인 방법은 먼저 피부색 정보(Skin Color)를 추출한다. 그 다음 블럽(Blob) 함수의 블럽 컬러링(Blob Coloring) 알고리즘을 통하여 피부 윤곽선(Skin Contour)를 구하고, 그 중 가장 최상위 점을 핑거팁으로 정한다. 그러나 이 방법은 밴딩 핑거(Bending Finger) 상태에서 핑거팁 위치를 측정할 때 실제 손가락 끝이 아닌 잘못된 위치를 잡는 문제점을 가지고 있다. 본 논문에서 제안하는 방법은 밴딩 핑거 상태에서의 핑거 트래킹시 잘못된 핑거팁을 측정하는 문제점을 사용자들의 성향을 통해 미리 예상하고 보정함으로써 성능을 향상시키고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.5
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• pp.67-76
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• 1997

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezo-electric bimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilevers with a force sensor at the tip and the finger is a solid beam. The robotic finger is used to hold the objects with different stiffness such as an iron block and a living insect and a moving objcet. So it is very important to develop an adequate controller for the holding operation of the finger. The main problems in force controlling are overdamping, overshoot and unknown environment(such as the stiffness of object and unknown plant parameters). So, the main target is propose the new fuzzy compensation for unknown environment and incease the system performance. The fuzzy compensation is implemented by using PI-type fuzzy approach to identified unknown environment. And the result of proposed controller was compared with the conventaional PID and optimal controller.

• Journal of the Korean Wood Science and Technology
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• v.32 no.6
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• pp.57-66
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• 2004

To study the efficient usage of small diameter logs and woods containing defects such as knots, slope of the grain and decay, six types of finger-jointed woods with various finger profiles were made of poplar, pine and oak with different density. We investigated the effect of finger profile on static bending strength performances of finger-jointed woods. The efficiency of bending MOE, MOR and deflection showed the highest value in poplar finger-jointed wood with the lowest density of three species, and the lowest value in oak finger-jointed wood with the highest density of three species. The values markedly decreased with increasing finger pitch for finger-jointed wood glued with polyvinyl acetate (PVAc) resin for all tested species, whereas for the finger-jointed wood glued with resorcinol-phenol formaldehyde (RPF) resin, the influence of finger pitch on the efficiency of MOE was not found in all tested species, and those on the efficiency of MOR and deflection indicated the same trend as finger-jointed wood glued with PVAc resin in the case of pine and oak finger-jointed wood with higher densities. It was found that the values tended to decrease with increasing density of species on the whole and the desirable finger pitches were L (6.8 mm) for poplar, M (4.4 mm) for pine and S (3.5 mm) for oak in a view of economy. For finger-jointed wood glued with PVAc resin, the fitness between a tip and a root width of a pair of fingers δ of 0.5 mm indicated the highest efficiency of MOE for all species. And, the influence of δ on MOR was only found in oak finger-jointed wood glued with RPF resin and the desirable δ value for oak was 0.1 mm. However, it was found that the influence of δ on the strength performance was very small.

• The Research Journal of the Costume Culture
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• v.12 no.2
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• pp.279-289
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• 2004

This study was conducted to compare the hunting reaction of finger in the cold water. Finger skin temperature is measured the left middle finger tip immersion in cold water of 5℃ for 30 minutes and measurements were made on finger skin temperature(Ts), thermal comfort, and cold pain sensations during the experiment at the spring (March) and Winter(December). Results were follows. Is before immersion was at the highest in spring and at the lowest in winter and was closely related to the indoor temperature Ts during immersion and recovery. Mean of finger skin temperature(MST), the skin temperature at the first rise(TTR) and amplitude of finger skin temperature reaction during immersion(AT) were significant higher in spring than that in winter(P＜.01). The lowest skin temperature(LST) during the cold water immersion were significantly higher in spring than that in winter (P＜.05). The frequency of the appearance of cold-Induced vase dilation(CIVD) was higher in spring than that in winter. However, time for the first temperature(TTR) and recovery time(RT) had no seasonal variation. In addition, cold pains during immersion were felt more strongly in spring than in winter. Local thermal sensation, finger thermal sensation in dynamic state during hand immersion was different from that in the Winter. Spring was slowly cold in cold water immersion.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Proceedings of the KOSOMBE Conference
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• v.1992 no.05
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• pp.198-202
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• 1992

In this paper, we have performed an experiment to obtain an optimized electric stimulation condition on the tip or a ringer skin. The desired parameters for stimulation of the finger tip skin are waveforms, frequency, stimulation intensity, duty cycle. As a result, when the finger skin was stimulated with monophasic, biphasic, and differntial phasic, the most appropriate condition was 200 to 250[Hz] in frequency, 10 to 25[%] in duty cycle. Burst type pulse was more sensitive effect than that of continuous pulse methode.

• Archives of Reconstructive Microsurgery
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• v.7 no.2
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• pp.108-113
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• 1998

Reverse digital artery flaps were performed successfully to resurface the fingertip defect in 13 patients as noninnervated pattern and in 12 patients as innervated pattern from March 1993 to February 1996. No loss of flap in this series was noted. Refinements in flap design and surgical technique resulted in favourable functional and ethetic results. The average two-point discrimination of the reconstructed fingertip was 7.2mm and 4.5mm in the noninnervated and innervated flaps, respectively. This flap is an one of the ideal and reliable option for reconstruction of fingertip defects.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.