• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.309-318
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• 2001

In this paper, we describe methods that analyze a human gesture. A human interface(HI) system for analyzing gesture extracts the head and hand regions after taking image sequence of and operators continuous behavior using CCD cameras. As gestures are accomplished with operators head and hands motion, we extract the head and hand regions to analyze gestures and calculate geometrical information of extracted skin regions. The analysis of head motion is possible by obtaining the face direction. We assume that head is ellipsoid with 3D coordinates to locate the face features likes eyes, nose and mouth on its surface. If was know the center of feature points, the angle of the center in the ellipsoid is the direction of the face. The hand region obtained from preprocessing is able to include hands as well as arms. For extracting only the hand region from preprocessing, we should find the wrist line to divide the hand and arm regions. After distinguishing the hand region by the wrist line, we model the hand region as an ellipse for the analysis of hand data. Also, the finger part is represented as a long and narrow shape. We extract hand information such as size, position, and shape.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.328-336
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• 2012

In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction). Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust $YC_bC_r$ skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2022-2026
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• 2003

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.51.5-51
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• 2002

In this paper, we propose and developed a keyglove using the touch-typing method as new solutions to the problem of text input into the mobile computing devices. This device recognizes that character is typed in though the hand's movements analysis and requires no additional space on a person's desktop or work surface, and can be easily used with computers of any size, even the smallest mobile computer, and is designed as an input device for wearable computers and virtual environment. The concept of the wearable input device based on human hand-molies recognition.

• Bulletin of the Society of Naval Architects of Korea
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• v.32 no.1
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• pp.11-15
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• 1995

우리나라 조선업을 40,000 TDW(Handy-max size)를 기준 해서 대형 조선소와 중소 조선소로 분류해도 무리가 없을 것으로 생각됩니다. 그런데 중소 조선소는 10,000 TDW급 이하의 선박을 주로 건조하고 있으므로 40,000 TDW-10,000 TDW(Hand-size)사이는 거의 공백 상태라고 해도 무방할 것입니다. 우리나라 조선업은 건조선박크기로 볼 때 대형과 소형사이에 중형이 거의 없습니다. 중소 조선소들은 그 숫자가 많기는 하나, Hand-size 이하의 소형선을 건조해 왔고, 그 시장도 극동해역을 거의 벗어나지 못해 왔으므로 중소 조선업이 "세계화"되었다고 말하기에는 다소 미흡한 점이 많아 보입니다. 필자는 우리나라 중소 조선업의 "세계화"가 가능할 수 있다고 믿는 사람중의 하나입니다. 그래서, 먼저 몇가지 소견을 밝힘으로서 여러 회원들 중 뜻을 같이 하고저 하는 분들을 이 가능성에로 초대하고 싶습니다. 이 글은 커다란 잠재력 개발을 향한 첫걸음에 불과한 것이고, 여러 회원들의 동참에 의해 지속적으로 개발돼 나갈 수 있을 것이다.적으로 개발돼 나갈 수 있을 것이다.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.476-479
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• 2003

Recently, Bluetooth has been regarded as a new technology for short-range wireless connection. Although initial application of Bluetooth technology has been focused mainly on replacing cables between hand-held devices due to a limited packet size and short-range, general wireless telecommunication such as PAN and Ad hoc networks via Bluetooth-equipped devices is expected to be one of the most popular applications. Wireless equipments have been used to exchange data between host and mobile unit. The exchanging data may be several bytes of control command and the value of sensors with ultra-sonic, vision sensor, and encoder from mobile robot. However, most wireless equipments have some drawbacks such as lack of authentication, large size and high price. On the other hand, the benefits of Bluetooth are small size, low power, low price except short-range. Especially, there are some difficulties when wireless modules are used in indoor environments. In this paper, a method of using wire network in Bluetooth network is investigated as a solution to overcome the short-range problem of Bluetooth and difficulty in indoor environment.

• The Research Journal of the Costume Culture
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• v.12 no.2
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• pp.262-278
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• 2004

The purpose of this study was to develop the sizing system fur women's glove. The combination of anthropometric and engineering aspects of glove pattern-making is difficult problem in engineering clothing. And the traditional measurements is not enough for glove. Therefore, to develop the hand measurement method and dimension for glove, a comprehensive list of candidate measurements was reviewed and the manufacturers (Their career was over the 15years.) were interviewed on the method of glove pattern-making. This study was conducted traditional and creative 88 two-dimensional anthropometric measurements and 4 photometric measurements for glove pattern-making. In addition, 16 creative measurements were instrumented using a special hand measuring board for measuring of landmark locations on the hand. The subjects were 260 women's right hand in the age group of 18 to 35 years old in Korea.

• The International Journal of Costume Culture
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• v.6 no.2
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• pp.126-133
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• 2003

The purpose of this study was to develop the sizing system for men's glove. The combination of anthropometric and engineering aspects of glove pattern-making is difficult problem in engineering clothing. And the traditional measurements is not enough for glove. Therefore, to develop the hand measurement method and dimension for glove, a comprehensive list of candidate measurements was reviewed and the manufacturers (Their career was over the 15years) were interviewed on the method of glove pattern-making. This study was conducted traditional and creative 88 two-dimensional anthropometric measurements and 4 photometric measurements for glove pattern-making. In addition, 16 creative measurements were instrumented using a special hand measuring board for measuring of landmark locations on the hand. The subjects were 260 men's right hand in the age group of 18 to 35 years old in korea.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.6
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• pp.916-922
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• 1997

This paper attempted to estimate mesh selectivity of gill nets for neon flying squid in the north Pacific Ocean. The 11 linear regressions, (P<0.05) were obtained using the data on catch ratios derived from mesh size combinations between two slightly different mesh sizes of 12 kinds of research gillnet (namely 33, 37, 42, 48, 55, 63, 72. 76, 86, 96, 105 and 115 mm in stretched mesh size). There was an increase in the optimum length with the increase in mesh size but standard deviation showed somewhat increase with the increase in the mesh size. The selectivity curves were well fitted to the length frequency distributions obtained from samples for the mesh sizes from 48 mm through 86 mm. For the mesh sizes of 33, 37 and 42 mm the DML (Dorsal Mantle Length) compositions were distributed towards the right hand-limb of the curves. The DML distributions from the 96 mm and larger meshes showed a trend towards the left hand-limb of the curves. The selectivity curves for different mesh sizes indicate that large mesh sizes catch a greater size range of squid, and the gill net fishery in the north Pacific Ocean captures effectively neon flying squid within the range of $9\~43cm$ DML.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.327-332
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• 2000

In this paper, a new multi-fingered robot hand using ultrasonic motors and its control system are developed. The developed robot hand has four fingers and fifteen articulated joints. The distal joint of each finger is directly driven by ultrasonic motor and all joints except the distal joint has low transmission gear mechanism with the motor. The developed robot hand has several advantages in size compared to a hand using conventional DC motors, and in performance compared to a hand using tendons to drive joints. A VME-bus based hand control system and ultrasonic motor driver are also developed. The performance of the hand is confirmed by using the developed control system in real-time.