• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.985-986
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• 2013

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.175-178
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• 2003

This paper describes a active audition system for robot-human interface in real environment. We propose a strategy for a robust sound localization and for -talking speech recognition(60-300cm) based on 2-dimensional microphone array. We consider spatial features, the relation of position and interaural time differences, and realize speaker tracking system using fuzzy inference profess based on inference rules generated by its spatial features.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.229-235
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• 2001

Recently, service area has been emerging field f robotic applications. Even though assistant robots play an important role for the disabled and the elderly, they still suffer from operating the robots using conventional interface devices such as joysticks or keyboards. In this paper we propose an efficient computer interface using real-time eye-gaze tracking system. The inputs to the proposed system are images taken by a camera and data from a magnetic sensor. The measured data is sufficient to describe the eye and head movement because the camera and the receiver of a magnetic sensor are stationary with respect to the head. So the proposed system can obtain the eye-gaze direction in spite of head movement as long as the distance between the system and the transmitter of a magnetic position sensor is within 2m. Experimental results show the validity of the proposed system in practical aspect and also verify the feasibility of the system as a new computer interface for the disabled.

• Journal of Biomedical Engineering Research
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• v.35 no.3
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of the Ergonomics Society of Korea
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• v.29 no.6
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• pp.907-914
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• 2010

Cognitive model, that is cognitive architecture, is the model expressed with computer program to show the process how human solve a certain problem and it is continuously under investigation through various fields of study such as cognitive engineering, computer engineering, and cognitive psychology. In addition, the much extensive applicability of cognitive model usually helps it to be used for quantitative prediction of human Behavior or Natural programming of human performance in many HCI areas including User Interface Usability, artificial intelligence, natural programming language and also Robot engineering. Meanwhile, when a system designed, an usability test about conceptual design of interface is needed and in this case, analysis evaluation using cognitive model like GOMS or ACT-R is much more effective than empirical evaluation which naturally needs products and subjects. In particular, if we consider the recent trend of very short-end term between a previous technology development and the next new one, it would take time and much efforts to choose subjects and train them in order to conduct usability test which is repeatedly followed in the process of a system development and this finally would bring delays of development of a new system. In this study, we predicted quantitatively the human behavior processes which contains cognitive processes for menu selection in touch screen interface through ACT-R, one of the common method of usability test. Throughout the study, it was shown that the result using cognitive model was equal with the result using existing empirical evaluation. And it is expected that cognitive model has a possibility not only to be used as an effective methodology for evaluation of HCI products or system but also to contribute the activation of HCI cognitive modeling in Korea.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.8
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• pp.37-44
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• 2008

Nowadays, the increasing global competition forces manufacturer to reduce the cost and time for implementation of manufacturing system. The AR(augmented reality) technology as a new human-machine interface introduces a noteworthy perspective for a new manufacturing system design. Using AR technology, a physically existing production environment can be superimposed with virtual planning objects. Therefore, the planning tasks can be validated without modeling the surrounding environment of the production domain during short process planning time. In this paper, we introduce the construction of AR browser and determine the optimal environment parameters for field application of AR system through lots of tests. And, many methods such as multi-marker coordinate system, division of virtual objects and so on, are proposed in order to solve the problems suggested from initial field test. Based on these tests and results, the test-bed of C/Pad assembly system is configured and robot program for C/Pad assembly is generated based on AR system.

• Proceedings of the Korea Contents Association Conference
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• 2012.05a
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• pp.3-4
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• 2012

사용자 중심의 man machine interface 기술의 발전은 사용자 인터페이스 기술과 인간공학의 접목으로 인하여 많은 진전이 있으며 계속 진행되고 있다. 근래의 정보전달은 사운드와 텍스트 또는 영상을 통하여 이루어지고 있으나, 감성적인 측면에서의 정보전달에 관한 연구는 활발하지 못한 실정이다. 특히, Human Computer Interaction분야에서 음성이나 표정의 전달에 관한 감성연구는 초기단계로 이모티콘이나 플래쉬콘 등이 감정전달을 위하여 사용되고 있으나 부자연스럽고 기계적인 실정이다. 본 연구는 사용자와 상호작용에서 컴퓨터 또는 응용소프트웨어 등이 자신의 가상객체(Software Robot, Sobot)를 활용하여 인간친화적인 상호작용을 제공하기위한 기반연구로써 한글에서 감성어를 추출하여 분류하고 처리하는 기술을 개발하여 컴퓨터가 전달하고자하는 정보에 인공감정을 이입시켜 사용자들의 감성만족도를 향상시키는데 적용하고자한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.4
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• pp.361-367
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• 2015

This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1527-1530
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• 1996

Telerobot system is being developed for the application to nuclear power plants by Korea Atomic Energy Research Institute. Human-machine interaction and interface are very important elements of telerobotic systems. The main purpose of this study is developing a control system based on 3-D graphic techniques for the easy user interface and realistic visual I information supply. This system possesses the abilities for (1) virtual work, environment modelling and simulation, (2) kinematic animation include redundant behavior (3) interfacing with a real robot system, (4) transformation between real and virtual mode within the same graphics system. This system is especially focused on enhancing the overall efficiency and reliably of nozzle dam installation task inside water chamber of steam generator in nuclear power plant.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.780-783
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• 2007

A Many studies have been made on the prediction of human voluntary movement intention in real-time based on invasive or non-invasive methods to help severely motor-disabled persons by offering some abilities of motor controls and communications. In the present study, we have developed an internet game driven by and/or linked to a brain-computer interface (BCI) system. Activities of two single neuronal units recorded from either hippocampus or prefrontal cortex of SD rats were used in real time to control two-dimensional movements of a robot, or a game object.