• Journal of the Ergonomics Society of Korea
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• v.17 no.1
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• pp.11-22
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• 1998

When grasping a movable object or making an object move, humans feel kinesthetic sense. The kinesthetic sense is the human sense that the human feels in response to the motion acted on him. The objective of the paper is to transform the kinesthetic sense associated with the human arm into the quantified data that are useful from the engineering viewpoint. A 2-dimensional motion generator composed of two linear motors was developed to provide various motion patterns. It can change its stiffness and damping values on the real-time basis by properly regulating the force generated by the linear motors. Based on Taguchi method, the most dominant factors to affect the kinesthetic sense were investigated. Also, a reference function adequate to quantify the kinesthetic sense was found. Based on this function, the effects of changes in stiffness and damping on the kinesthetic sense were investigated. Various tests show that the damping is a more dominant factor than the stiffness in forming the kinesthetic sense.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.227-234
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• 2000

The human sensibility caused by the motion of an object grasped by a human operator is defined as kinesthetic sense of arm. Due to nonlinearity and ambiguity of human sense, there is no absolute standard for quantification of kinesthetic sense. In this research, a so-called 2-dimensional arm motion generator is developed to present various mechanical impedance (i.e., stiffness or damping) characteristics to a human arm. The kinesthetic words representing arm kinesthetic sense are selected and then the subject's satisfaction levels on these words for given impedance values are measured and processed by the SD method and factor analysis. In addition, the quantification method using neural network is proposed to take into account the individual difference between the mean sensibility and each subject's sensibility. Through this proposed algorithm, the sensibility of human motion described qualitatively can be converted into engineering data ensuring objectivity, reproducibility, and universality.

• Proceedings of the ESK Conference
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• 1997.10a
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• pp.359-365
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• 1997

When grasping a movable object or making an object move, humans feel kinesthetic sense. Kinesthetic sense is the human sense that the human feels in response to the motion acted on the human. The objecive of the paper is tranforming the kinesthetic sense to quantitized data that is useful from the viewpoint of engineering. To provide various motion patterns, 2-dimensional motion generator was built using 2-axis linear motors. Active stiffness and active damping were implemented by means of current control and force feedback techniques. Based on Taguchi method, the most dominant factors to affect kinesthetic sense were investigated. Also, some functions adequate to quantize the kinesthetic sense were found.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.656-664
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• 2016

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1553-1558
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• 2003

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.451-456
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• 2005

This paper describes three kinds of experiments and analysis of their results related to human tactile sensitivity using an integrated tactile display system. The device can provide vibration, normal pressure and lateral slip/stretch which are important physical quantities to sense texture. We have tried to find out the efficient method of stimulating, limitation of surface discrimination by kinesthetic farce feedback and the effectiveness of the combination of kinesthetic force and tactile feedback. Seven kinds of different stimulating methods were carried out and they are single or combination of the kinesthetic force, normal static pressure, vibration, active/passive shear and moving wave. Both prototype specimen and stimulus using tactile display were provided to all examinees and they were allowed to answer the most similar sample. The experimental results show that static pressure is proper stimulus for the display of micro shape of the surface and vibrating stimulus is more effective for the display of fine surface. And the sensitivities of active touch and passive touch are compared. Since kinesthetic force feedback is appropriate to display shape and stiffness of an object, but roughness display has a limitation of resolution, the concurrent providing methods of kinesthetic and tactile feedback are applied to simulate physical properties during touching an object.

• Journal of the Korean Society of Physical Medicine
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• v.5 no.4
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• pp.517-525
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• 2010

Purpose : This study aimed to compare the effect of two conditions (visual and kinesthetic) of motor imagery training on static and dynamic balance. Methods : Fifteen patients with post-stroke hemiparesis volunteered to participate in this study. Two motor imagery training conditions, for 10minute trials, employed with audiotape instructions. Measurements were performed at pretest, posttest and 1-hour follow up in both static and dynamic balance. Results : Measures were significantly different both static and dynamic balance tests between treatment conditions (kinesthetic imagery more than visual imagery) at the pretest, post test, and 1-hour follow-up (p<.05). Measures of both static and dynamic balance tests, for both conditions, improved significantly from pretest to posttest (p<.05), and was maintained at 1-hour follow up. Conclusion : This study showed that both imagery training applications were effective treatment strategies for both static and dynamic balance. When comparing the two treatment conditions, kinesthetic motor imagery training was more effective than the visual motor imagery training in static and dynamic balance.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1708-1713
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• 1997

In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1999.11a
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• pp.97-100
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• 1999

Human feels kinesthetic sense in response to the force acted on him. In order to represent kinesthetic sense, a force is analyzed as mechanical impedance (i.e., stiffness or damping) and implemented by active impedance control. In this research, a 3-dimensional arm motion generator is developed to present various mechanical impedance characteristics to an operator. An introduction of virtual reality provides not only a visual effect in virtual environment but also the change in force synchronized with the visual effect in real time.

• The Journal of the Korea Contents Association
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• v.10 no.10
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• pp.440-450
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• 2010

This study was an analysis of sport psychological application for the kinesthetic gifted children's selection and upbringing in Pusan University's center for kinesthetic gifted children from 2009.7 to 2010.2. The 60(athletics: 40, swimming: 10, gymnastics: 10) of kinesthetic gifted children were selected among the first, second and third year students from Pusan, Ulsan and Kyungsang-namdo without distinction of sex. We progressed summer and winter camp during vacation, and managed a special training program according to exercise items on every Saturday. We attempted experimental a field application, and obtained the following implications. First, the first and second year students were possible to test psychological measurement with supplementary explanation, and in the case of third grade, it was enough possible without any supplementary explanation. Second, multi-intelligence test was efficient as the method to check kinesthetic gifted children's intelligence and useful as the basic data for counseling. Third, the character types of kinesthetic gifted children were appeared preferring outgoing, intuition and emotions. Forth, with the FAIR concentration, we confirmed that the center's program effected positively on improving concentration. Fifth, we found the potential that the physical task commitment questionnaire and the exercise activity self-administer questionnair would be used as official psychological measurement tool after the review process of additional validity and reliability.