• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• 대한인간공학회지
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• 제35권6호
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• pp.519-533
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• 2016

Objective: This study lays its aims at the definition of relevant operation method and function by researching on the value to be brought when applying smart device that can hand carry soft and flexible materials like jelly. Background: New technology and material play a role in bringing type transformation of interface and change of operation system. Recently, importance has been increased on the study of Organic User Interface (OUI) that conducts research on the value of new method of input and output adopting soft and flexible materials for various instruments. Method: For fulfillment of the study, 27 kinds of gestures have been defined that are usable in handheld device based on existing studies. Quantitative research of survey was conducted of adult male and female of 20s through 30s and an analysis was done on the function that can be linked to gestures with highest level of satisfaction. In order to analyze needs and hurdles of users for the defined gesture, a focus group interview was conducted aiming at the groups of early adopters and ordinary users. Results: As a result, it was found that users have much value regarding usability and fun for elastic device and analysis could be conducted on preferred gesture and its linkable functions. Conclusion: What is most significant with this study is that it sheds new light on the values of a device made of elastic material. Beyond finding and defining the gestures and functions that can be applied to a handheld elastic device, the present study identified the value elements of an elastic device - 'usability and 'fun' -, which users can basically desire from using it. Application: The data that this study brought forth through preference and satisfaction test with the gestures and associated functions will help commercialize an elastic device in future.