• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.331-336
• /
• 1995

In this past decade, industrial robot have substituted human workers successfully in certain areas, however, the applications are limited due to the shortcoming in their mechanism and control strategies. Many researchers, therefore, have focused on improving the mechanical and sensory capabilities. Developing mult-degree-of-freedom end effectors, in other words robot hands, is one of the topics that researchers have begun to improve the limitation. A set of direct drive type servo-pneumatic finger joint has been developed for a dexterous robot hand. To control the pneumatic finger joints, a prototype 4/3-way proportional control valve has been designed and tested as a preliminary, research for the control of the pneumatic finger joints. A series of experiments have been conducted to verify the performance characteristics of the valve and the conventional proportional error contral with minor-loop compensation has been used to control the anguar position of the finger joints.

• Journal of Digital Contents Society
• /
• v.18 no.5
• /
• pp.859-868
• /
• 2017

The purpose of this study is to investigate the research trend of robot education for young children and elementary students as a basic study for the development of hands-on robot program for young children. Trends by year, research contents, and effectiveness of 155 dissertations and journal papers from 2006 to May 2016 related to robot education for young children and elementary students were analyzed. The results were as follows. In the research subject, research was conducted in the order of integrated education, attitudes and awareness research, and response research for young children and programming education, design development research, and integrated education for elementary students. In the research method, observational research and development research were the most common in young children and elementary students, respectively. In the effectiveness validation, research on social and emotional interaction and research on creativity were the most common in young children and elementary students, respectively. Based on the results of this study, the analysis provided basic data for the development of programs for young children's hands-on robot activities and suggested the direction and implications of robot education in connection with SW education of young children and elementary students.

• Journal of The Korean Association of Information Education
• /
• v.18 no.4
• /
• pp.575-584
• /
• 2014

Lately, as the importance of software and the software education has been emphasized, the studies on ways of teaching programming to elementary students have been actively progressed. However, most of undergraduates as prospective elementary teachers who will be in charge of teaching programming at the elementary schools have a lack of interest in programming education as well as of the understanding of basic programming principles. Therefore, this study investigated how programming education using hands-on robot and scratch affected learning motivation and academic achievement of preliminary teachers. The comparison of results of two programming educations shows that the programming education using hands-on robot revealed statistically significant difference in learning motivation and academic achievement.

• Journal of Industrial Technology
• /
• v.16
• /
• pp.71-81
• /
• 1996

This paper discusses a physiological approach motivated by the study of human hands for robot hand force control. It begins with an analysis of the human's grasping behavior to see how humans determine the grasp forces. The human controls the grasp force by sensing the friction force, that is, the weight of the object which is felt on his hand, but when slip is detected by sensing skin acceleration, the grasp force becomes much greater than the minimum force required for grasping by adding the force which is proportional to the acceleration. And two methods that can predict when and how fingers will slip upon a grasped object are considered. To emulate the human's capabilities, we propose a method for determination of as grasp force, which uses the change in the friction force. Experimental results show that the proposed method can be applied to control of robot hands to grasp objects of arbitrary weight stably without skin-like slip sensors.

• Proceedings of the Korean Information Science Society Conference
• /
• 2011.06c
• /
• pp.405-408
• /
• 2011

In this paper, we propose a robot remote control system based on mouth tracking. The main idea behind the work is to help disabled people who cannot operate a joystick or keyboard to control a robot with their hands. The mouth detection method in this paper is mainly based on the Adaboost feature detection approach. By using the proposed new Haar-like features for detecting the corner of mouth, the speed and accuracy of detection are improved. Combined with the Kalman filter, a continuous and accurate mouth tracking has been achieved. Meanwhile, the gripping commands of the robot manipulator were also achieved by the recognition of the user.s mouth shape, such as 'pout mouth' or 'grin mouth'. To assess the validity of the method, a mouth detection experiment and a robot cargo transport experiment were applied. The result indicated that the system can realize a quick and accurate mouse tracking; and the operation of the robot worked successfully in moving and bringing back items.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.1
• /
• pp.1171-1177
• /
• 2001

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands. Through various assembly tasks, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. Also, we show that some of coupling stiffness elements in the operational space cannot be planned arbitrarily. As a result it is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.10
• /
• pp.964-969
• /
• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.78-78
• /
• 2000

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands, To be specific, some of coupling stiffness elements cannot be planned arbitrary. Through T-type assembly task, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. It is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

• Journal of the Korea Society of Computer and Information
• /
• v.20 no.4
• /
• pp.33-40
• /
• 2015

This paper presents the design and implementation of the educational remote controlled robot system including remote sensing in the embedded environment. The design of sensing information processing, software design and template design mechanism for the programming practice are introduced. LPC1769 using Cortex-M3 core as CPU, LPCXPRESSO as debugging environment, C language as firmware development language and FreeRTOS as OS are used in development environment. The control command is received via RF communication by the server and the robot system which is operated by driving the various sensors. The educational procedure is from robot demo operation program as hands-on practice and then compiling, loading of the basic robot operation program, already supplied. Thereafter the verification is checked by using the basic robot operation to allow demo operation such as hands-on-training procedure. The original protocol is designed via RF communication between server and robot system, and the satisfied performance result is presented by analyzing the robot sensing data processing.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.180-185
• /
• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.