• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.947-954
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• 2012

Sand scorpions are nocturnal animals to mostly use tactile senses to detect their prey. It has been reported that sand scorpions have high vibration sensitivity for their prey-localizing behavior. We tested vibration experiments in the sand with microphone sensors to model the sand scorpion's behavior and a time-difference model was applied to find the direction of a vibration source. Using the information of the arrival time of the vibration signal to reach each leg position, we can find the location of the vibration source.

• 한국정밀공학회지
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• 제26권5호
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• pp.142-149
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• 2009

This paper proposes and demonstrates novel flexible contact force sensing devices for 3-dimensional force measurement. To realize the sensor, polyimide and polydimethylsiloxane are used as a substrate, which makes it flexible. Thin-film metal strain gauges, which are incorporated into the polymer, are used for measuring the three-dimensional contact forces. The force sensor characteristics are evaluated against normal and shear load. The fabricated force sensor can measure normal loads up to 4N. The sensor output signals are saturated against load over 4N. Shear loads can be detected by different voltage drops in strain gauges. The device has no fragile structures; therefore, it can be used as a ground reaction force sensor for balance control in humanoid robots. Four force sensors are assembled and placed in the four corners of the robot's sole. By increasing bump dimensions, the force sensor can measure load up to 20N. When loads are exerted on the sole, the ground reaction force can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion system.

• Advances in nano research
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• 제17권4호
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• pp.369-383
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• 2024

Annular nano-electromechanical systems (NEMS) in intelligent prosthetic hands enhance precision by serving as highly sensitive sensors for detecting pressure, vibrations, and deformations. This improves feedback and control, enabling users to modulate grip strength and tactile interaction with objects more effectively, enhancing prosthetic functionality. This research focuses on the electro-thermal buckling behavior of multi-directional poroelastic annular NEMS used as temperature sensors in airplanes. In the present study, thermal buckling performance of nano-scale annular functionally graded plate structures integrated with piezoelectric layers under electrical and extreme thermal loadings is investigated. In this regard, piezoelectric layers are placed on a disk made of metal matrix composite with graded properties in three radials, thickness and circumferential directions. The grading properties obey the power-law distribution. The whole structure is embedded in thermal environment. To model the mechanical behavior of the structure, a novel four-variable refined quasi-3D sinusoidal shear deformation theory (RQ-3DSSDT) is engaged in obtaining displacement field in the whole structure. The validity of the results is examined by comparing to a similar problem published in literature. The results of the buckling behavior of the structure in different boundary conditions are presented based on the critical temperature rise and critical external voltage. It is demonstrated that increase in the nonlocal and gradient length scale factor have contradicting effects on the critical temperature rise. On the other hand, increase in the applied external voltage cause increase in the critical temperature. Effects of other parameters like geometrical parameters and grading indices are presented and discussed in details.

• 복식
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• 제66권2호
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• pp.61-75
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• 2016

The purpose of this study was to develop interactive smart clothing based on visual and tactile sensitivities to promote non-verbal communication between people with hearing impairments. The study analyzed various cases of interactive smart clothing, different non-verbal communication tools, as well as results of user demand survey to extract essential factors. Then these factors were categorized into technology or design concept. The technological aspect of the development considered the following factors: the usability, detachability, purposiveness, and economic feasibility. The design aspect considered the following factors: the usability, detachability, formativeness and wearability. A prototype was designed considering the user's requirements. The developed prototype had sensors, Bluetooth technology, and gave access to wireless communication in order to enable non-verbal communication between people with hearing impairments.

• 로봇학회논문지
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• 제3권2호
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• pp.154-163
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• 2008

This paper presents the concept for the development of a pet-type robot with an emotion engine. The pet-type robot named KOBIE (KOala roBot with Intelligent Emotion) is able to interact with a person through touch. KOBIE is equipped with tactile sensors on the body for interaction with a person through recognition of his/her touching behaviors such as "Stroke","Tickle","Hit". We have covered KOBIE with synthetic fur fabric in order to can make him/her feel affection as well. KOBIE is able to also express an emotional status that varies according to the circumstances under which it is presented. The emotion engine of KOBIE's emotion expression system generates an emotional status in an emotion vector space which is associated with a predefined needs and mood models. In order to examine the feasibility of our emotion expression system, we verified a changing emotional status in our emotion vector space by a touching behavior. We specially examined the reaction of children who have interacted with three kind of pet-type robots: KOBIE, PARO, AIBO for roughly 10 minutes to investigate the children's preference for pet-type robots.

• 센서학회지
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• 제26권4호
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• pp.266-273
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• 2017

In this research a medical palpation guidance system for minimally invasive surgery (MIS) is proposed. Palpation is a useful tool for identifying a size and location of a lump during a surgery. However, conventional manual palpation is only available in open surgery, so there has been several researches about palpation assistant or guidance system for MIS. The previously developed systems are based on a pressure based or stiffness based approach. These previous approaches have some limitations in increasing complexity of the systems and lack of geometric information about the lump which is more important information for the lump removal than the stiffness information. We propose a palpation guidance system using a novel approach using contact pressure distribution. Since our approach gives the geometry information of the lump as well as the existence information, the operator can easily notice the currently identified lump region and the optimal position for the next palpation. The experiment results show that our approach can offer the geometry information of the lump correctly.

• 대한임베디드공학회논문지
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• 제12권1호
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• pp.35-41
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• 2017

We propose a face recognition and notification system that can transform visual face information into tactile signals in order to help visually impaired people. The proposed system consists of a glasses type camera, a mobile computer and an electronic cane. The glasses type camera captures the frontal view of the user, and sends this image to mobile computer. The mobile computer starts to search for human's face in the image when obstacles are detected by ultrasonic sensors. In a case that human's face is detected, the mobile computer identifies detected face. At this time, Adaboost and compressive sensing are used as a detector and a classifier, respectively. After the identification procedures of the detected face, the identified face information is sent to controller attached to a cane using a Bluetooth communication. The controller generates motor control signals using Pulse Width Modulation (PWM) according to the recognized face labels. The vibration motor generates vibration patterns to inform the visually impaired person of the face recognition result. The experimental results of face recognition and notification system show that proposed system is helpful for visually impaired people by providing person identification results in front of him/her.

• 센서학회지
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• 제21권2호
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• pp.156-166
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• 2012

Over the past 15 years productive BCI research programs have arisen. Current mainstream EEG electrode setups permit efficient recordings but most of electrodes has the disadventages of need for skin preparation and gel application to correctly record signals. The new gel-free probe was adapted for EEG recording and it can be fixed to the scalp with the micro needle without neuro-gel. It use standard EEG cap for wearing electrodes on scalp so it is compatible with standard EEG electrodes. A comparison between electrode characteristics is achieved by performing simultaneous recordings with the gel electrodes and gel-free probe placed in parallel scalp positions on the same anatomical regions. The quality of EEG recordings for all two types of experimental conditions is similar for gel-electrodes and gel-free probe. Subjects also reported not having special tactile sensations associated with wearing of gel-free probes. According to our results, it is expected that gel-free probe can be adapted to BCI, BMI(Brain Machine Interface), HMI(Human Machine Interface) because of its simple application and comfortable wearing process.

• Composites Research
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• 제35권6호
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• pp.378-393
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• 2022

마찰전기 나노발전기(이하 TENG)의 새로운 발전 기술은 에너지 수집 및 자가 전력 공급 감지 응용 분야의 긍정적 전망으로 인해 점점 더 많은 관심을 받고 있다. 또한 최근 소프트로봇의 부상은 플렉시블과 소프트센서, 액추에이터 개발에 대한 폭넓은 관심을 불러 일으키고 있다. TENG는 액추에이터와 자가 전력 공급 센서를 구동하는 유망한 전원으로 간주되어 소프트웨어 로봇, 소프트 센서 및 액추에이터 개발을 위한 독창적인 방법을 제공한다. 이 리뷰에서는 TENG를 기반으로 다양한 형태와 기능을 가진 소프트웨어 로봇을 소개하려 한다. 그 중 자연계의 구조, 표면 형태, 재료 특성과 센싱/발전 메커니즘을 모방한 바이오닉 소프트 로봇의 설계는 TENG 성능 향상에 큰 도움이 되었다. 또한 다양한 바이오닉 소프트 로봇은 TENG의 간단한 구조, 자체 전력 공급 특성 및 조정 가능한 출력으로 인해 이전 구동 방식보다 향상되었다. 그리하여 이 리뷰에서는 TENG가 활성화한 소프트 로봇 응용의 특정 핵심 영역에서 다양한 연구를 종합적으로 검토하려 한다. 리뷰를 요약하자면 먼저 최근 개발된 다양한 TENG 기반 소프트웨어 로봇을 정리하고 다양한 장비 구조, 표면 형태 및 자연적으로 영감을 받은 재료를 비교 분석하여 그에 따른 TENG 성능 개선을 수행한다. 자연계에 사용되는 다양한 유비쿼터스 감지 원리와 발전 메커니즘 및 유사한 인공 TENG 설계가 확인되었고 촉각 디스플레이 및 웨어러블 기기, 인공 전자 피부 등의 기기에 TENG를 활성화하는 바이오닉 응용에 대해 논의한다. 마지막으로 TENG 기반 센서 및 구동 장비의 로봇 실제 적용에 대한 발전 기회, 도전 및 미래 전망을 분석한다.

• 산업융합연구
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• 제19권1호
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• pp.71-77
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• 2021

스크린골프는 단순히 실내에서 골프를 즐기는 수준을 넘어 실제 골프코스와 같은 환경을 체감할 수 있도록 정교한 센서와 3D 그래픽으로 구현하여 사용자에게 보다 현장감 있는 인터페이스를 제공한다. 이러한 인터페이스 환경을 경험한 사용자들은 골프에 대한 재미를 더 크게 느끼고 몰입하게 되는 행동성향을 보임에 따라 효과적인 실감 인터페이스의 제공은 무엇보다 중요하다 하겠다. 본 연구에서는 체감형 스포츠로서 스크린골프가 가지는 의미와 스크린골프에 구현된 다양한 인터페이스 요소를 정리하여 사용자가 필드골프와 같은 실재감과 재미를 느끼며, 스크린골프에 보다 몰입할 수 있는 요인들을 규명하였다. 감각 요소를 근거로 한 인터페이스 요소들을 시각·청각·촉각 측면에서 정리하였고, 골프존과 카카노VX 사례를 대상으로 주기적으로 스크린골프를 즐기는 사용자 FGI와 골프 프로 전문가 심층 인터뷰 등을 통해 스크린골프의 효과적인 실감 인터페이스 제공을 위한 개선 방안 및 방향성을 제시하였다. 분석결과 시각 측면에서는 야디지를 포함한 코스정보와 플레이 연출 그래픽이 몰입하게 만드는 요소임을 확인하였고, 촉각 측면에서는 실제 장비를 사용한다는 점과 함께 다양한 코스 환경과 플레이 상황을 구현한 물리적 인터페이스 실재감이 중요하게 나타났다. 특히 청각 측면에서는 보다 진보된 기술로 정교하게 구현한 필드골프 캐디와 같은 AI 캐디를 통해 사용자별 맞춤형 서비스를 제공한다면 보다 큰 재미와 실재감으로 스크린골프에 몰입하게 만드는 가장 효과적인 방안임을 확인하였다.