• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• 대한의용생체공학회:의공학회지
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• 제30권3호
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• pp.205-212
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• 2009

This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2022년도 추계학술대회
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• pp.15-17
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• 2022

볼 베어링 선택조립 시스템에서 잉여부품을 최소화하기 위해서는 각 부품의 치수 분포를 파악하여 선택 확률을 최적화하여야 하지만, 복잡한 시스템은 생산 공정에 지연이 일으킨다. 본 논문에서는 볼 베어링 선택조립 시스템에서 빠르고 간단하게 선택 우선순위를 결정할 수 있는 군집 우선 선택 알고리즘을 제안한다. 그리고 실제 볼 베어링 선택조립 공정에서 수집한 데이터로 모의 상황을 가정하고, 군집 우선 선택 알고리즘과 기존 알고리즘을 시뮬레이션하여 잉여부품 발생률과 연산소요시간을 평가한다. 시뮬레이션 결과, 군집 우선 선택 알고리즘이 기존 알고리즘에 비하여 83.8% 적은 잉여부품을 발생하였고, 연산소요시간도 39.7% 단축되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.4-12
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• 1996

This keynote presentation covers the subject of intelligent systems development for monitoring and control in various NASA space applications. Similar intelligent systems technology also has applications in terrestrial commercial applications. Discussion will be given of the general approach of intelligent systems and description given of intelligent systems under prototype development for possible use in Space Shuttle Upgrade, in the Experimental Crew Return. Vehicle, and in free-flying space robotic cameras to provide autonomy to these spacecraft with flexible human intervention, if desired or needed. Development of intelligent system monitoring and control for regenerative life support subsystems such as NASA's human rated Bio-PLEX test facility is also described. A video showing two recent world's firsts in real-time vision-guided robotic arm and hand grasping of tumbling and translating complex shaped objects in micro-gravity will also be shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.501-506
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• 1993

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. Multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criteria used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces the internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R, where I is the number of robots. The general solution can be obtained using any efficient numerial method for quadratic programming, and for dual robot case, the optimal solution is given in a simple analytical form.

• 대한공간정보학회지
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• 제2권2호
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• pp.117-124
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• 1994

본 연구는 인공위성을 이용한 3차원 위치결정 방법인 GPS를 이용하여 광주시 일원의 소수의 측지 및 지적 삼각점 도근점을 관측하여 WGS 84 data를 경 위도 좌표계로 변환시켜 GPS data의 신뢰성을 검증하고 차후 좌표측량시 GPS 도입시 제기되는 문제점을 파악하고져 하였다.

• 한국컴퓨터정보학회논문지
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• 제23권7호
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• pp.49-56
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• 2018

Virtual object weight perception is an important topic, as it heightens the believability of object manipulation in immersive virtual environments. Although weight perception can be achieved using haptic interfaces, their technical complexity makes them difficult to apply in immersive virtual environments. In this study, we present a visual pseudo-haptic feedback system that simulates and depicts the weights of virtual objects, the effect of which is weight perception. The proposed method recognizes grasping and manipulating hand motions using computer vision-based tracking methods, visualizing a Force Arrow to indicate the current lifting forces and its difference from the standard lifting force. With the proposed Force Arrow method, a user can more accurately perceive the logical and unidirectional weight and therefore control the force used to lift a virtual object. In this paper, we investigate the potential of the proposed method in discriminating between different weights of virtual objects.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• 산업경영시스템학회지
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• 제27권2호
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• pp.78-85
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• 2004

Diffusions of energy conservation technology are very important class in our country that resources and energy are lacking, and development, transfer, diffusions etc.. of energy conservation technology can speak as one method that can improve country competitive power along with company competitive power. But, in the case of our country, present condition grasping about energy conservation technology Passing . induction did not consist. This research grasp Present condition about energy conservation technology Passing . induction of our country and Present direction for energy conservation technology activation, for which connected company into question investigation enforce and behaved frequency analysis and crossing analysis etc.

• Journal of Yeungnam Medical Science
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• 제24권2호
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• pp.97-106
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• 2007

Functional electrical stimulation (FES) has developed over the last 35 years to become a scientifically, technologically and clinically recognized field of interest in clinical medicine. FES has been applied to locomotion, grasping, ventilation, incontinence, and decubitus healing. However, all of these achievements illustrate the initial applications of FES; its true potential has not yet been realized. Recently, FES systems, which are miniaturized stimulation devices, have been utilized in the clinical setting. However, because the stimulating electrodes of the current FES devices are percutaneous electrodes, which are susceptible to wire breakage, and skin infection an implantable FES stimulating electrode has been introduced in the U.S. and Japan. In the present study, an external power supply method using radio frequency (RF) coupling and data transmission was developed for the control of the implantable FES device. In addition, we review the current understanding of FES devices and their application in clinical medicine.