지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2023.8
- 수록면
- 372 - 379 (8page)
- DOI
- 10.5050/KSNVE.2023.33.4.372
이용수
DBpia Top 10%동일한 주제분류 기준으로최근 2년간 이용수 순으로 정렬했을 때
해당 논문이 위치하는 상위 비율을 의미합니다.
초록· 키워드
오류제보하기
In this study, a master glove with a haptic function is proposed and its performance is verified through motion control experiments on a slave robot hand. A master glove is fabricated by attaching a sensor that can measure the bending of the user"s finger and a haptic actuator that can control the movement of the user"s finger to the back of the hand of a commercial glove. Moreover, a new type of slave robot hand that combines a wire-based driving method and a gear-based composition method is designed and manufactured. It is verified through experiments whether the robot hand can implement the user"s finger movements in the same way. It is also experimentally verified whether the user can receive the same feedback when the movement of the robot hand is restricted, such as grabbing an object. Using the proposed haptic master glove, it is confirmed that the motion of the slave robot hand is accurately implemented, and that the robot hand can grasp a flexible object without damage by conveying the state of the robot hand to the user.
목차
ABSTRACT
1. 서론
2. 시스템 설계
3. 성능 평가
4. 결론
References
참고문헌 (13)
참고문헌 신청
Kim, H., Kyung, K.-U., Park, J. and Han, D., 2010, The State-of-the-art on Haptic Interface, Korea Institute of Information Technology Magazine, Vol. 8, No. 1, pp. 7~15.
Kang, B.-H., Yoon, S.-M., Lee, M. C. and Kim, C.-Y., 2012, Development of Low-inertia Master Device for Haptic System Configuration of Surgical Robot, Journal of Korea Robotics Society, Vol. 7, No. 4, pp. 267~275.
Oh, J.-S., Shin, W.-K., Nguyen, P.-B., Uhm, C.-H. and Choi, S.-B., 2013, A Haptic Master-slave Robot System: Experimental Performance Evaluation for Medical Application, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 23, No.
Choi, Y.-R., Lee, J.-C., Kim, J.-H., Kim, S.-H. and Kwon, O.-S., 2013, Development of Multi Haptic Control Environments for Tele-operating Robot System, Journal of Korea Multimedia Society, Vol. 16, No. 6, pp. 689~699.
Gang, H. G., Choi, S.-B. and Sohn, J. W., 2017, Torque Tracking Control of MR Brake Using a Fuzzy-PID Control Algorithm, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 27, No. 4, pp. 444~450.
Kang, B.-H., Yoon, S.-M., Lee, M. C. and Kim, C.-Y., 2012, Development of Low-inertia Master Device for Haptic System Configuration of Surgical Robot, Journal of Korea Robotics Society, Vol. 7, No. 4, pp. 267~275.
Oh, J.-S., Shin, W.-K., Nguyen, P.-B., Uhm, C.-H. and Choi, S.-B., 2013, A Haptic Master-slave Robot System: Experimental Performance Evaluation for Medical Application, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 23, No.
Choi, Y.-R., Lee, J.-C., Kim, J.-H., Kim, S.-H. and Kwon, O.-S., 2013, Development of Multi Haptic Control Environments for Tele-operating Robot System, Journal of Korea Multimedia Society, Vol. 16, No. 6, pp. 689~699.
Gang, H. G., Choi, S.-B. and Sohn, J. W., 2017, Torque Tracking Control of MR Brake Using a Fuzzy-PID Control Algorithm, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 27, No. 4, pp. 444~450.
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UCI(KEPA) : I410-ECN-0102-2023-424-001920032