• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Journal of Information Processing Systems
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• v.8 no.3
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• pp.399-408
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• 2012

Hand gesture recognition is an important area of research in the field of Human Computer Interaction (HCI). The geometric attributes of the hand play an important role in hand shape reconstruction and gesture recognition. That said, fingertips are one of the important attributes for the detection of hand gestures and can provide valuable information from hand images. Many methods are available in scientific literature for fingertips detection with an open hand but very poor results are available for fingertips detection when the hand is closed. This paper presents a new method for the detection of fingertips in a closed hand using the corner detection method and an advanced edge detection algorithm. It is important to note that the skin color segmentation methodology did not work for fingertips detection in a closed hand. Thus the proposed method applied Gabor filter techniques for the detection of edges and then applied the corner detection algorithm for the detection of fingertips through the edges. To check the accuracy of the method, this method was tested on a vast number of images taken with a webcam. The method resulted in a higher accuracy rate of detections from the images. The method was further implemented on video for testing its validity on real time image capturing. These closed hand fingertips detection would help in controlling an electro-mechanical robotic hand via hand gesture in a natural way.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.899-902
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• 2002

Effect of hand-transmitted vibration on human discomfort and health was reviewed. Since the effect by hand tool was more serious than those by any other vibration environments, western countries have protected hand tool workers by regulations. International organization for standardization legislate standard, ISO 5349, at 1979 for the measurement and evaluation of the effect. Afterwards, more than twenty standards on hand-arm vibration were enacted to Protect any damage of hand tool users. Even though Korea Standards adopted ISO 5349 in 2001, it is required an action plan should be applied to all of work environments, especially to the workers using pneumatic tool workwers such as miners, construction workers, and etc.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.455-458
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• 2003

Effect of hand-transmitted vibration on human discomfort and health was reviewed. Since the effect by hand tool was more serious than those by any other vibration environments, western countries have protected hand tool workers by regulations. International organization for standardization legislate standard, ISO 5349, at 1979 for the measurement and evaluation of the effect. Afterwards, more than twenty standards on hand-arm vibration were enacted to protect any damage of hand tool users. Even though Korea Standards adopted ISO 5349 in 2001, it is required an action plan should be applied to all of work environments, especially to the workers using pneumatic tool workers such as miners, construction workers, and etc.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1361-1364
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• 2001

The recent national contract (Ecotechnopia 21) supported by the ministry of environment puts much significance on new issues for the assessment of human effects arising from vibration and noise exposed to human. This paper focuses only on hand-arm vibration since it has been a major problem in protecting vibration exposure to human. To set up a systematic way of assessing adverse effects of hand-arm vibration, surveys were made on recent international standards and researches related to hand-arm vibration. The measurement and evaluation methods of hand-arm transmitted vibration, the relationship between vibration exposure and effects on health, and the assessment methods of nerve dysfunctions are addressed in this paper. Those methods are linked into a logical way of assessing effects of hand-arm vibration on human. Finally, the current activities and achievements in this work are briefly summarised.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.4
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• pp.93-98
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• 1999

Currently the technology of surface finishing is highly demanded in a wide range of industries. And many kinds of surface finishing technologies have been developed for each purpose. But it is still difficult to make a fine surface for the part which has three dimensional geometry. Now most of these kinds of complex parts are polished by hand by well skilled workers, This hand work process is inefficient and the production cost is high. Therefore it is desirable to develop a new finishing technology to solve problem In this study a new device was developed and tested in various test conditions.

• Journal of the Korean Society of Safety
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• v.20 no.1 s.69
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• pp.148-152
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• 2005

The purpose of this paper is to investigate risk factors and ergonomically improve the manufacturing lines of compressors for prevention of work-related musculoskeletal disorders, enhancement of productivity, and workers satisfaction We executed questionnaire survey, ergonomic risk factors investigation of manufacturing lines and ergonomic intervention of work methods, workplace and hand tools. The results of the questionnaire showed that $7.9\%$ of respondents were positive in WMSDs symptom survey. In ergonomic evaluation, the analysis methods such as RULA and NIOSH lifting equation were used and 28 processes in the lines were evaluated to be potentially hazardous. We ergonomically improved the processes to reduce potential WMSDs hazards : manual material handling, carts, work tables, transport methods, working posture and hand tools.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.70-74
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• 2010

For each strand of wirerope sling, the international standards, ISO-8794, EN-13414 specify that the splice shall have five series of load carrying tucks. At least three of the load carrying tucks shall be made with the whole strand. And, the breaking force of the splice shall not be less than 70% or 80% of that of rope. But, There are no prescriptions for splicing types against different efficiency of each splicing type being used many workplace. In this study, analysis the work limit load efficiency according to variation of number of tucks and splicing types by experimental method As a result, the number of tucks 3+2 had the highest breaking efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.51.5-51
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• 2002

In this paper, we propose and developed a keyglove using the touch-typing method as new solutions to the problem of text input into the mobile computing devices. This device recognizes that character is typed in though the hand's movements analysis and requires no additional space on a person's desktop or work surface, and can be easily used with computers of any size, even the smallest mobile computer, and is designed as an input device for wearable computers and virtual environment. The concept of the wearable input device based on human hand-molies recognition.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.433-438
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• 2001

This study is performed to evaluate hand-arm vibration syndrome(HA VS) of the workers in swaging process. Vibration measurement and assessment of human exposure are based on the international standard(ISO 5349). Triaxial acceleration of each operation and exposure time are measured to predict the periods before finger blanching, As results, it is found that acceleration is concerned with the diameter of pipes in swaging process, and also found that combined work is more harmful than a single operation.