• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Journal of The Korean Association of Information Education
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• v.22 no.3
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• pp.307-316
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• 2018

In this study, we conduct SW education using robot in elementary school, to examine the effects of SW education using robot and identify differences dependeing on the presence of assistance teacher. In order to achieve the purpose of this study, SW education using robot was conducted to 29 students. After collecting data, we examined mean difference using matched pair t-test and ANCOVA. Our results show that SW education using robot significantly improved CT and attitudes toward robots. CT, however, was not significantly improved in control group. Further, although improvement in attitudes toward robots was not associated with presence of assistance teacher, presence of assistance teacher did play a role in improvement of CT. This study was investigated effects of the SW education using robot and identify differences depending on the presence of assistant teacher, and expanded the understanding of the SW education using robot.

• Fashion & Textile Research Journal
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• v.23 no.1
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• pp.106-117
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• 2021

This study proposes a design process for an upper limb assistive wearable soft robot that will enable the development of a clothing product for an upper limb assistive soft robot. A soft robot made of a flexible and soft material that compensates for the shortcomings of existing upper limb muscle strength assistive devices is being developed. Consequently, a clothing process of the upper limb assistive soft robot is required to increase the possibility of wearing such a device. The design process of the upper limb auxiliary soft robot is presented as follows. User analysis and required performance deduction-Soft robot design-upper limb assistive wearable soft robot prototype design and production-evaluation. After designing the clothing according to the design process, the design was revised and supplemented repeatedly according to the results of the clothing evaluation. In the post-production evaluation stage, the first and second prototypes were attached to actual subjects, and the second prototype showed better results. The developed soft robot evaluated if the functionality as a clothing function and the functionality as the utility of the device were harmonized. The convergence study utilized a process of reducing friction conducted through an understanding and cooperation between research fields. The results of this study can be used as basic data to establish the direction of prototype development in fusion research.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.364-369
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• 1988

In this study, a model for the simulation of the material flow not only inside a robot cell with flexible handling sequence but also between robot cells is presented. A method for the connection of special simulation programs has been developed and a logic model between a real system and a simulation system is employed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.557-558
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.297-298
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• 2009

• Proceedings of the Korea Society of Design Studies Conference
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• 2005.10a
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• pp.58-59
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• 2005

• Journal of The Korean Association of Information Education
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• v.21 no.3
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• pp.285-296
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• 2017

In this study, we conduct SW education using robot in elementary school, to examine the effects of SW education using robot on CT and gender differences. In order to achieve the purpose of this study, SW education using robot was conducted to 143 students in 5, 6 grade in GyeongGi. After collecting data, we examined mean difference using matched pair t-test and ANCOVA. The results of this study were as follows: The SW education using robot is associated with significant improvements in CT, however, computational concepts is not associated with significant improvement in high initial score sub sample. And CT is not associated with gender. This study was investigated effects of the SW education using robot and identify gender differences. And expanded the understanding of the SW education using robot.

• Journal of Digital Convergence
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• v.15 no.2
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• pp.295-300
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• 2017

The study evaluates exploration of social robot's role which can emotionally communicate with human as an alternative to heal psychological isolation for single-person households. At first, I conduct a study on literatured to understand the definition and characteristics of social robot then analyze the current situation and future prospects. Based on this, I organized the requirements of social robot in aspect of user experience through in-depth interview of twenties single-person households living in the metropolitan area who could be potential customers. As a result every subject require social robot specialized to them through accumulated interaction. On the other hand, degree of attachment with social robot is different from subjects. Hear by I realize every subject require social robot to different and various functions according to their lifestyle and personality. Therefore I could draw conclusions and implications from this study that technical development in aspect of personalized user experience is necessary for social robot to settle in to human's life in the future.

• Journal of Welding and Joining
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• v.11 no.3
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• pp.22-33
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• 1993

Arc sensor is indispensable to arc welding robot systems for compensating the joint misalignment such as mismatch of the workpiece, ill-conditioned positioner and thermal deformation during welding. Furthermore, the amount of these mismatches cannot be preivously expected, and changes from time to time. There are many kinds of seam trackers for correcting the welding path of the robot, where non-contact type sensors arc prevalently used in arc welding robot systems. In this study, an arc sensor was developed for GMA and FCA welding robot system. Since the arc sensor uses the arc characteristics during welding, the operating principle of the arc sensor must be adjusted according to the welding condition. Especially in GMA welding with the $CO_{2}$ shielding gas, the welding arc is not stable because of the short circuit and non-axial globular transfer mode of the molten droplet. In this study, the 2nd order least square curve fitting algorithm was adopted and the applicability of this algorithm was investigated for robot welding systems. For easy usage of the arc sensor, the operating parameters for arc sensor were limited to eight which can be easily determined by the operator.