• International Journal of Contents
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• 제6권4호
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• pp.8-13
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• 2010

Due to the expense of health care and the need to contain costs, many stroke patients are discharged from hospitals while still in an impaired condition. Using Tele-rehabilitation, these patients can receive rehabilitation services remotely. A pegboard is a conventional rehabilitation therapeutic device that integrates cognition, sensation and hand motor function. This study proposes a Tele-rehabilitation content with automated pegboard and shows its functional feasibility. The evaluation of the pegboard session was automated with RFID (radio frequency identification), and a 16-hole pegboard was rapid-prototyped. After a pegboard session is completed, the session result is uploaded to a server automatically for viewing on a web browser by a remote therapist. The therapist can also send messages to remote patients to encourage them or to manage the rehabilitation process.

• 대한의용생체공학회:의공학회지
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• 제34권3호
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• pp.123-128
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• 2013

The 'Dielectrophoretic Tweezers(DEP Tweezers)' can be used as a facile, economical toolkit for quantitative measurement of chemical and biological binding forces related to many biological interactions within a microfluidic device. Our experimental setup can probe the interaction between a single receptor molecule and its specific ligand. Immunoglobulin G(IgG) functionalized on polystyrene microspheres has been used to detect individual surface linked Staphylococcus protein A(SpA) molecules and to characterize the strength of the noncovalent IgG-SpA bond. It was measured and compared with the existing measurements. Measured single binding force of between Goat, Rabbit IgG and SpA were $17{\pm}7pN$, $74{\pm}16pN$. This work can be used to investigate several different ligand-receptor interactions and antigen-antibody interactions.

• 로봇학회논문지
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• 제7권2호
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• pp.65-75
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• 2012

This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

• 로봇학회논문지
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• 제8권3호
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• pp.173-178
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• 2013

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational ($PD_t$) and generalized penetration depth ($PD_g$). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for $PD_t$ and $PD_g$ are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

• 한국멀티미디어학회논문지
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• 제17권1호
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• pp.60-68
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• 2014

최근 사용자와 컴퓨터 간의 상호작용을 통하여 컴퓨터를 제어하는 시스템이 활발하게 연구되고 있으며, 특히 사람의 손 인식에 관한 연구가 많이 이루어지고 있다. 현재까지는 하나의 디바이스에서 사람의 손인식 정확도를 높이는 연구와 손동작을 통하여 디바이스를 제어하는 연구가 주를 이루고 있지만, 손 인식 기술이 여러 산업분야에 적용됨에 따라 다양한 환경과 상황에 적용하기 위하여 다중 디바이스 간의 시스템을 선택적으로 제어하는 연구가 필요하다. 본 논문에서는 사용자의 손 인식을 통하여 두 개의 디바이스 중에서 선택적으로 하나의 디바이스를 제어하고자 한다. 더불어 6가지의 조건을 포함한 환경에서 실험을 통해 두 디바이스 간의 선택적 손 인식의 성공률을 높이기 위한 환경을 제시하고자 한다.

• 융복합기술연구소 논문집
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• 제2권2호
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• pp.35-39
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• 2012

This paper presents the effect of data-hold methods on stability of haptic system with a virtual wall. When a human operator interacts with virtual wall, the lager the stiffness of the virtual wall is, the more realistic the operator feels that the virtual wall is. However, if the stiffness of the virtual wall becomes extremely large, the system may be unstable. When a virtual wall is designed, it is necessary to analyze the maximum available stiffness to guarantee a stable haptic interaction. The simulation model in this paper is developed based on the haptic device model, sampler, a virtual wall model, and data hold methods to compute the maximum stiffness for stability. The effectiveness of the simulation is evaluated through comparing the results of previous studies with the results of this simulation. In addition, the effects of two data hold methods, that is, zero-order hold (ZOH) and first-order hold (FOH) on the stability are analyzed and the values of the maximum available stiffness are compared through the simulation.

• 한국환경과학회지
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• 제27권4호
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• pp.275-279
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• 2018

Water status of intact plants has been optically estimated by measuring reflectance at the wavelengths 1,450 nm and 1,900 nm based on their signal strengths. Although another water band at 970 nm is considered to have very small signals, the band apparently lies within the detection range of inexpensive spectrometer and plain charge-coupled device (CCD) camera used in wild fire studies. However measurement of the reflectance at 970 nm has been rarely applied to estimate the water status of dead plant materials such as fallen branch, twig, and leaf. To test the possibility of applying water reflectance at 970 nm to estimate the water content (WC) in leaf litter, the reflectance in various WC values were measured in the leaf litter of three Quercus species (Q aliena, Q aliena, Q mongolica, and Quercus variabilis). The results showed that the WC in the leaf litter can be determined by reflectance water index (WI) in the three Quercus species ($WC=1,450{\times}WI-1,378.8$, r=0.865). However, there was no interaction effect in the relationship between WI and WC among the litter of the three Quercus species.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 2부
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• pp.333-338
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• 2007

모바일 기기의 디자인은 제약적인 물리적 조건하에서 이루어지기 때문에, 사용자는 제품을 손으로 만지는 순간부터 제품 혹은 디자인의 물리적 사용성을 평가하게 된다. 근래 사용자들이 모바일를 장시간, 밀착해서 소지/사용하는 행태를 볼 때, 사용 초기에는 물리적 사용성 위주로 제품 사용성을 평가하고 이런 평가 결과는 사용 후반 까지 영향을 미친다. 이런 물리적 사용성에 관해서는 전 연구를 통해 제품 제품 개발 과정에서 모바일 기기의 물리적 사용성 문제 (PUI)가 발생하는 영역과 특성을 정의하였다. 또한, 물리적 사용성 문제가 개발 과정상에서 체크되고 개선 / 반영 하기 위한 하였다. 본 사례 연구에서는 QWERTY 키 패드 모바일 기기를 디자인 하기 위해 물리적 사용성 고려 요소를 평가 하고, 사용자의 인지적 사용성에도 영향을 미치는 물리적 요소를 평가하는 과정을 소개한다. 제품 디자인 전제 벤치마킹/ 컨셉 회의는 의례적으로 이루어 지지만, 사용성 관점에서 디자인시 고려할 요소를 평가하는 과정을 논의하고자 한다. 본 사례 연구 결과 본 연구를 통해 사용자가 느끼는 컨텐츠 만족도를 제외한 모바일 기기의 만족도는 다분히 물리적 사용성 부분에 존재하며 제품 디자인시 물리적 사용성 고려 요소를 조사하고 반영해야 한다는 필수성을 증명하고 있다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 C
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• pp.1527-1529
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• 2001

The physicochemical properties of the LB films were by AFM. We give pressure stimulation into organic thin films and then manufacture a device under the accumulation condition that the state surface pressure is 2, 10, 30[mN/m]. The stable images are probably due to a s interaction between the monolayer film and substrate. We are unable to obtain molecule res in images of the films but did see a marked co between images of the bare substrate and those the network structure film deposited ont Formation that prevent when gas phase stat liquid phase state measure but Could know o matter that molecules form equal and stable when molecules were not distributed evenly, accumulated in solid state only.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.