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김윤정(Yoon Jeong Kim),정광훈(Gwang Hun Jeong),이계한(Kyehan Rhee),이수진(Soo-Jin Lee) Korean Society for Precision Engineering 2011 한국정밀공학회지 Vol.28 No.6
This paper presents the dynamic analysis on the joint torque of a finger for the tip pinch task. The dynamic model on finger movement was developed in order to predict the joint torques of an index finger, and the finger was assumed as a three-link planar manipulator. Analysis of the model revealed that the joint stiffness was one of the most important parameters affecting the joint torque. The stiffness of the finger joint was experimentally measured, and it was used in analyzing the finger joint torque required for performing the tip pinch task. The obtained joint torque for the tip pinch task will be used as the design requirements of the finger exoskeletal orthosis actuated by the polymer actuator whose allowable torque limit is relatively low compared to that of a mechanical actuator.
Deformation Measurement of Polymer Scaffold Using Particle Image Analysis
강민제(Min Je Kang),오상훈(Sang Hoon Oh),이계한(Kyehan Rhee) Korean Society for Precision Engineering 2016 한국정밀공학회지 Vol.33 No.1
Polydimethylsiloxane (PDMS) is used as a scaffold for cell culture. Because both the stress and strain acting on the substrate and the hemodynamic environment are important for studying mechano-transduction of cellular function, the traction force of the surface of a substrate has been measured using fluorescence images of particle distribution. In this study, deformation of the cross-sectional plane of a PDMS block was measured by correlating particle image distributions to validate the particle image strain measurement technique. Deformation was induced by a cone indentor and a shearing parallel plate. Measured deformations from particle image distributions were in agreement with the results of a computational structure analysis using the finite-element method. This study demonstrates that the particle image correlation method facilitates measurement of deformation of a polymer scaffold in the cross-sectional plane.
Study on Grasping Performance of Finger Exoskeleton Actuated by Electroactive Polymers
김민혁(Min Hyeok Kim),이수진(Soo Jin Lee),조재영(Jae Young Jho),김동민(Dong Min Kim),이계한(Kyehan Rhee) Korean Society for Precision Engineering 2015 한국정밀공학회지 Vol.32 No.10
A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.