• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• Journal of the Ergonomics Society of Korea
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• v.16 no.1
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• pp.29-45
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• 1997

This study aims at designing sleeves which are suitable for arm shapes and arm movements. With the samples of of ordinary 24 women aged from 20 to 22, the arm shapes and movements were measured 3-dimensionally using a motion analyzer and a sonic digitizer, and then clasified into three characteristic types (A, B, and C). Our analysis leads to the following conclusion. The factors classifying arm shapes are the length from acromion to posterior armpit point, arm hole length, the cap height, difference in height between anterior and posterior armpit points, armhole circumference, upper arm circumferemce, armhole depth, and underarm circumference. The characteristics of arm type A is that the armhole depth and the length from acromion to posterior armpit point are the largest, while the circumference inbe- tween upper arm and elbow is the smallest among the three arm types. Thus, the large circumference difference between upper and lower arms is the most notable in arm type A. The factors classifying arm shapes for arm type B are the smallest except for the circumference inbetween upper arm and elbow which is larger than that for arm type A. The circumference difference betweemn upper and lower arms is small for arm type B. Arm type C has the smallest armhole depth, while other factors are similar to those for arm type B. In type C, the size of upper arm is comparatively small on the frontal plane, while it is the largest on the sagital plane.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.359-366
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• 2010

This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• Journal of the Ergonomics Society of Korea
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• v.18 no.1
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• pp.91-108
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• 1999

In our previous work using a motion analyzer and 3-dimensional sonic digitizer, the arm shapes for 23 women in their early twenties were classified into three characteristic types. In order to design sleeves, suitable for arm movements for the three characteristic arm shapes, a relationship between arm length variation and shoulder/elbow angles has been investigated for four cases of arm movements (flexion, extension, adduction and abduction). Each arm movement can be characterized by the changes in shoulder angle and the changes in elbow angle at the maximal shoulder angle. In all the four cases of arm movements, the changes of shoulder length and cap height are largest at the maximal shoulder angle. These changes were little affected by changes in elbow angle. The changes in the lower arm length and the difference between cap height and upper arm length are the largest at the maximal elbow angle of the maximal shoulder angle. There is a linear relationship between cap height and shoulder angle during arm movements; thus, in designing sleeves the cap height can be determined from the regression of cap height vs. shoulder angle.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.202-209
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• 2003

We succeeded to build a cost effective assistance robotic arm with a compact and lightweight body. The robotic arm has three joints, and the tip of robotic arm to install tools consists of a closed link mechanism, which consisted of two actuators and several links. The robotic arm has been made possible by the use of actuators typically used in radio control devices. The controller of the robotic arm consists of a single chip PIC only. The robotic arm has a friendly user interface, as the operators are aged and disabled in most cases. The operator can manipulate the robotic arm by voice commands or by pressing a push button. The robotic arm has been successfully prototyped and tested on an elderly patient to assist with eating. The results of field test were satisfactory.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.612-618
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• 2009

This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on $1^{st}$ axis and $2^{nd}$ axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of $1^{st}$ axis and $2^{nd}$ axis reduced to maximum 9.5% on a given path.

• Journal of KIISE
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• v.42 no.5
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• pp.551-557
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• 2015

The technology using ARM TrustZone draws attention as a new embedded virtualization approach. The ARM TrustZone defines two virtual execution environment, the secure world and the normal world. In such an environment, the inter-world communication is important to extend function of software. However, the current monitor software does not sufficiently support the inter-world communication. This paper presents a new inter guestOS communication scheme, for each world, for the ARM TrustZone virtualization. The proposed communication scheme supports bidirectional inter-world communication for single core and multicore environment. In this paper, It is implemented on a NVIDIA Tegra3 processor based on the ARM Cortex-A9 MPCore and it showed a bandwidth of 30MB/s.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.69-72
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• 2015

로봇의 ARM에 대한 연구는 로봇공학의 매우 중요한 부분이고 이에 대하여 오랜 기간 동안 많은 연구 개발들이 꾸준히 진행되고 있으며, 인간과 로봇의 동작에 있어서 움직임의 차이를 줄이기 위하여 다양한 연구 방법론들이 제시되고 있다. 특히 인간의 동작에 근접하는 로봇의 동작을 구현하기 위해서 로봇의 중요한 구성 요소 중의 하나인 ARM을 더욱더 중점으로 연구를 진행하고 있고, ARM을 로봇뿐만 아니라 다양한 분야에서 활용하기 위해 많은 노력을 하고 있다. 본 논문에서는 인간의 팔 동작에 근접하는 로봇 ARM 동작을 구현하는 Smooth ARM Motion 알고리즘을 설계하기 위하여 로봇의 기존 ARM 동작을 파악하고 그 특성을 분석하였다. Smooth ARM Motion은 중대형 로봇 설계에서 이미 적용되어 있지만 소형의 모터 서보를 사용하는 로봇에서는 적용되기 어려운 문제점을 가지고 있다 따라서 본 논문에서는 소형 모터 서보 시스템에서 Smooth ARM Motion을 구현하기 위하여 효과적으로 ARM을 제어하는 방법론을 도출하는 데에 필요한 제어 변수들을 제시하고, Arduino 환경에서 Smooth ARM Motion설계하기 위한 ARM에 대한 제어 변수들 간의 상관관계들을 실험을 통하여 분석하였다.

• Journal of IKEEE
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• v.24 no.2
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• pp.486-491
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• 2020

ARM Cortex-M0 DesignStart provided by ARM is cost-free design development suit targeting for designing and prototyping SoC with Cortex-M0 core. In this paper, we presents a method how to implement a custom system design using ARM Cortex-M0 DesignStart. First, hardware elements for ARM Cortex-M0 DesginStart is analyzed focusing on bus and memory map, and next software toolchain is explained to clarify the translating process from high level language to binary machine language. As an example of the custom system, UART system operated with Cortex-M0 is designed and simulated.