• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.473-480
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• 2013

This paper describes the design of a rectangular-type four-finger rehabilitation robot for flexibility rehabilitation of stroke patients' fingers and other patient's paralyzed fingers. The four-finger rehabilitation robot is composed of a body and each finger rehabilitation robot instrument. The four-finger rehabilitation robot could exercise four fingers (forefinger, middle finger ring finger and little finger) of patient for their rehabilitation. The four-finger rehabilitation robot instruments move according to the trace which spread out the patient's fingers and then turn them inward for the fingers' flexibility, while at the same time performing the force control with the reference forces for fingers' safety, simultaneously. A control characteristic test of the developed rectangular-type four-finger rehabilitation robot was carried out, and the results confirmed that the robot could be used for the flexibility rehabilitation exercise for the fingers of normal person and patients.

• 한국정밀공학회지
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• 제20권7호
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.758-763
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot's gripper. In order to safely grasp and unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• 한국정밀공학회지
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• 제29권5호
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• pp.516-523
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• 2012

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. The moving direction of thumb of five fingers is different that of four fingers (force finger, middle finger, ring finger, little finger). The thumb rehabilitation robot for rehabilitation exercise must be included a force control system, because robot can injure thumb by applying too much force. In this paper, the rectangular-type thumb rehabilitation robot was developed for stroke patient's thumb rehabilitation exercise of the flexibility rehabilitation exercise. The characteristic test of the developed rectangular-type thumb rehabilitation robot was carried out with normal men in their twenties. As a result, it is thought that the robot can be used for the flexibility rehabilitation exercise of stroke patient's thumb.

• International Journal of Precision Engineering and Manufacturing
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• 제5권3호
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.229-232
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• 2002

This paper describes the development of robot's finger 3-axis force sensor that detects the Fx, Fy, and Fz simultaneously fur stably grasping an unknown object. In order to safely grasp an unknown object using the robot's fingers, they should detect the force of gripping direction and the force of gravity direction, and perform the force control using the detected farces. The 3-axis force sensor that detects the Fx, Fy, and Fz simultaneously should be used for accurately detecting the weight of an unknown object of gravity direction. Thus, in this paper, robot's finger for stably grasping an unknown object is developed. And, the 3-axis farce sensor that detects the Fx, Fy, and Fz simultaneously fur constructing a robot's finger is newly modeled using several parallel-plate beams, and is fabricated. Also, it is calibrated, and evaluated.

• 센서학회지
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• 제21권2호
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• pp.127-134
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• 2012

Stroke patients must do the rehabilitation exercise to recover their fingers' function using a rehabilitation robot. But the rehabilitation robots mostly have not the force sensors to control the applied force to each finger. Thus, in this paper, the development of a force sensor for thumb rehabilitation robot and four two-axis force sensors for four-finger rehabilitation robot were developed. The force sensor and four two-axis force sensors could be used to measure the applied force to each finger, and the forces could be used to control the applied forces to each sensor in rehabilitation exercise using in the rehabilitation robot. The developed sensors have non-linearlity error of less than 0.05 %, repeatability error of less than 0.03 %, and the interference error of two-axis force sensor is less than 0.2 %.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 한국정밀공학회지
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• 제30권7호
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• pp.709-716
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• 2013

Rehabilitation of finger patients requires that the patients exercise their hands and fingers for proper functioning to return. A thumb rehabilitation robot, equipped with a two-axis force sensor, can prevent injury to the thumb by monitoring the applied pulling force. In this paper, we describe a link-type thumb rehabilitation robot designed for patients' thumb rehabilitation exercise. Tests of the manufactured link-type thumb rehabilitation robot were performed on normal male patients. Our results show that the robot can be used for flexibility and muscle-strength rehabilitation exercises for a patient's thumb.