• 센서학회지
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• 제19권5호
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• pp.349-355
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• 2010

Stroke patients, etc. can't use their hands because of the paralysis of their fingers, and their fingers could be recovered by rehabilitating training. In order to judge the rehabilitating extent of their fingers, the patients should grasp a cylindrical object in hospital. At present, the used object in hospital is only a cylindrical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the four-finger force measuring system which can measure the force of their fingers should be developed. In this paper, four-finger force measuring system with four force sensors which can measure the grasping force is developed. The force sensors are designed and fabricated, and the force measuring device is designed and manufactured by using DSP(digital signal processing). Also, the grasping force test of men is performed by using the developed four-finger force measuring system. It was confirmed that the finger average force of right hand is about 214.6 N and that of left hand is about 212.8 N.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.858-863
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• 2004

In this study, the new prosthetic hand which can perform sensory feedback is developed. Although the continuous development of current prosthetic hands, they have some drawbacks. The drawbacks are the low grasping capabilities, the lack of sensory information given to the user, and so on. Despite the improvement of the function of fingers, the sensory information problem still remains undeveloped. By using differential gear and underactuated mechanical design, it can be solved with the minimum additional weight. And it will be applied to all of the prosthetic hands.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.964-969
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• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.831-838
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• 2009

This paper proposes an IR (infrared) LED (Light Emitting Diode)-based tactile fingertip sensor that can independently measure the normal and tangential force between the hand and an object. The proposed IR LED-based tactile sensor has several advantages over other technologies, including a low price, small size, and good sensitivity. The design of the first prototype is described and some experiments are conducted to show output characteristics of the proposed sensor. Furthemore, the effectiveness of the proposed sensor is demonstrated through anti-slip control in a multifunction myoelectric hand, called the KNU Hand, which includes several novel mechanisms for improved grasping capabilities. The experimental results show that slippage was avoided by simple force control using feedback on the normal and tangential force from the proposed sensor. Thus, grasping force control was achieved without any slippage or damage to the object.

• 한국정밀공학회지
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• 제31권8호
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• pp.729-735
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• 2014

This paper presents the judgment method of the rehabilitation extent using a spherical type digital finger force measuring system (SDFFMS). Stroke patients can't use their fingers because of the paralysis of their fingers, but they can recover with rehabilitative training. The SDFFMS has been already developed by Kim (Author of this paper), and the finger grasping forces of normal people and stroke patients could be measured using it. But the SDFFMS could be not used to judge the extent of their rehabilitation, because the judgment method using it is not yet developed. In this paper, the characteristics tests for the grasping forces of normal persons and stroke patients were performed using the SDFFMS, and the judgment method of the rehabilitation extent was developed using the results. The tests confirm that the rehabilitation extent of stroke patients could be judged using the developed judgment method.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.141-146
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• 대한인간공학회지
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• 제15권2호
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• pp.165-176
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.

• 한국융합학회논문지
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• 제10권12호
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• pp.117-122
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• 2019

본 연구는 치석제거 실습수업을 하는 치위생학과 학생들을 대상으로 실습 전·후의 손의 근력, 파지력, 민첩성 변화를 측정하고 비교 분석하여, 수근관 증후군을 예방하기 위한 기초자료를 제공하고자 하였다. 치위생학과 4학년 재학생 중 손의 해부학적 구조, 근력, 파지력 및 감각에 이상이 없는 15명을 대상으로 치석제거 실습 전과 실습 후에 손의 근력, 파지력, 민첩성을 측정하였다. 수집된 자료는 PASW Statistics 18.0(SPSS) 통계프로그램을 활용하여 처리하였다. 연구결과 손의 근력과 파지력은 실습 전과 비교하여 실습 후에 감소하였다. 손의 민첩성은 실습 전과 비교하여 실습 후에 증가하였다. 이러한 결과를 통해 스케일링 동작 시 피로를 줄 수 있는 손동작을 자제하고, 스케일링 전후로 스트레칭 등 손의 힘을 기르는 예방운동의 개발이 필요할 것으로 사료된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.315-317
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• 2006

In addition to accurate position and velocity control, force control is necessary for a successful robot operation. In this paper, we have designed a simple robot gripper using a DC motor. For its force control, a current feedback control law is presented without using additional force sensors. Experimental results prove the effectiveness of the proposed control law. A digital controller is also developed with a TMS320LF2406 processor.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.