Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot

Savas Dilibal,Haydar Sahin,Josiah Owusu Danquah,Md. Omar Faruk Emon,Jae-Won Choi 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.4

Soft robotic grippers are required for power grasping of objects without inducing damage. Additive manufacturing can be used to produce custom-made grippers for industrial robots, in which soft joints and links are additively manufactured. In this study, a monoblock soft robotic gripper having three geometrically gradient fingers with soft sensors was designed and additively manufactured for the power grasping of spherical objects. The monoblock structure design reduces the number of components to be assembled for the soft gripper, and the gripper is designed with a single cavity to enable bending by the application of pneumatic pressure, which is required for the desired actuation. Finite element analysis (FEA) using a hyperelastic material model was performed to simulate the actuation. A material extrusion process using a thermoplastic polyurethane (TPU) was used to manufacture the designed gripper. Soft sensors were produced by a screen printing process that uses a flexible material and ionic liquids. The grasping capability of the manufactured gripper was experimentally evaluated by changing the pneumatic pressure (0–0.7 MPa) of the cavity. Experimental results show that the proposed monoblock gripper with integrated soft sensors successfully performed real-time grasp detection for power grasping.

연구논문 : 상징으로서의 예술과 정치

이종은 ( Jong Eun Lee ) 서울대학교 한국정치연구소 2010 韓國 政治 硏究 Vol.19 No.3

예술은 정치를 반영하는 것만이 아니라 정치를 주도할 수도 있다. 예술이 권력을 장악할 수 있는 것은 예술이 이미지를 재현하거나 생산함으로써 인간에게 상징체계를 제시하기 때문이다 민간은 상징체계에 의한 모델에 따라 살아 간다. 그렇다면 상징체계를 제시하는 하는 힘은 곧바로 권력의 행사와 유지에 직결된다. 예술은 인간의 감성을 지극함으로써 상짐체계를 형성하고 장악한다. 감성을 자극한 다는 것은 인간이 가진 감정의 구조를 강화시키거나 변경시키기 때문이다. 인간이 예술이 제시하는 감정의 구조를 수용하는 것은 예술이 가져다 준 감정의 구조가 윤리적인 감정을 일깨우기 때문이다. 이러한 과정에서 예술은 정치에 영향을 미친다. The arts not only reflects the ways how political powers are exercised, but also recommend the ways. People can hold and maintain their political powers through arts. Arts reproduce and create the images which constitute the symbolic system for people. People live on the model suggested by the symbolic system. Those who can hold and maintain power for grasping symbolic system will hold political power. Arts can hold symbolic system by invoking human feelings. Human feeling can either reinforce the present structure of feeling or create a new structure of structure. This structure of feeling may arouse the ethical emotion for changing power structure. In these ways the impact of arts as symbols may be exercised upon politics.

Effect of Power Grasping on Muscle Activity of Trunk during One Leg Stance

Kong, Yong-Soo,Hwang, Yoon-Tae 대한물리치료학회 2017 대한물리치료학회지 Vol.27 No.6

Purpose: This study investigated the effects of trunk muscle activity with power grasping during one leg stance. Methods: Twenty-eight subjects participated in this study. Subjects were divided into two groups, one that performed power grasping, and another that did not. An investigator measured the activities of a subject's trunk muscle such as internal oblique (IO), external oblique (EO), erector spinae (ES), and gluteus medius (GM) while a subject was doing one leg stance. Results: An independent t-test was used to analyze trunk muscle activities with power grasping during one leg stance between the experimental group and the control group. Only the EO activity differed significantly between groups (p<0.05). Conclusion: The results indicate that one leg stance with power grasping affected trunk muscle activity. Therefore, this is a useful method for providing lumbar spine stability.

Effect of Power Grasping on Muscle Activity of Trunk during One Leg Stance

공용수,황윤태 대한물리치료학회 2017 대한물리치료학회지 Vol.29 No.2

Purpose: This study investigated the effects of trunk muscle activity with power grasping during one leg stance. Methods: Twenty-eight subjects participated in this study. Subjects were divided into two groups, one that performed power grasping, and another that did not. An investigator measured the activities of a subject’s trunk muscle such as internal oblique (IO), external oblique (EO), erector spinae (ES), and gluteus medius (GM) while a subject was doing one leg stance. Results: An independent t-test was used to analyze trunk muscle activities with power grasping during one leg stance between the experimental group and the control group. Only the EO activity differed significantly between groups (p<0.05). Conclusion: The results indicate that one leg stance with power grasping affected trunk muscle activity. Therefore, this is a useful method for providing lumbar spine stability.

Effect of Power Grasping on Muscle Activity of Trunk during One Leg Stance

( Yong-soo Kong ),( Yoon-tae Hwang ) 대한물리치료학회 2017 대한물리치료학회지 Vol.29 No.2

Purpose: This study investigated the effects of trunk muscle activity with power grasping during one leg stance. Methods: Twenty-eight subjects participated in this study. Subjects were divided into two groups, one that performed power grasping, and another that did not. An investigator measured the activities of a subject`s trunk muscle such as internal oblique (IO), external oblique (EO), erector spinae (ES), and gluteus medius (GM) while a subject was doing one leg stance. Results: An independent t-test was used to analyze trunk muscle activities with power grasping during one leg stance between the ex-perimental group and the control group. Only the EO activity differed significantly between groups (p<0.05). Conclusion: The results indicate that one leg stance with power grasping affected trunk muscle activity. Therefore, this is a useful meth-od for providing lumbar spine stability.

Pattern Recognition of Human Grasping Operations Based on EEG

Xiao Dong Zhang,Hyouk Ryeol Choi 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.5

The pattern recognition of the complicated grasping operation based on electroencephalography (simply named as EEG) is very helpful on realtime control of the robotic hand. In the paper, a new spectral feature analysis method based on Band Pass Filter (simply named as BPF) and Power Spectral Analysis (simply named as PSA) is presented for discriminating the complicated grasping operations. By analyzing the spectral features of grasping operations with the use of the two-channel EEG measurement system and the pattern recognition of the BP neural network, the degree of recognition by the traditional spectral feature method based on FFT and the new spectral features method based on BPF and PSA could be compared. The results show that the proposed method provides highly improved performance than the traditional one because the new method has two obvious advantages such as high recognition capability and the fast learning speed.

국제학술대회 & 아시아운동역학회 창립총회 논문집 : 악력과 운동학적 변인을 이용한 골프 퍼팅 동작에 대한 연구

김형식 ( H. S. Kim ),최진승 ( J. S. Choi ),임영태 ( Y. T. Lim ),이정한 ( J. H. Yi ),탁계래 ( G. R. Tack ) 한국운동역학회 2006 한국운동역학회 춘계학술발표논문집 Vol.2006 No.-

로봇 그립퍼의 악력 제어

윤동우(Dong-woo Yun),오성남(Sung-nam Oh),김갑일(Kab-Il Kim),손영익(Young-Ik Son),임승철(Seung-chul Lim),강환일(Hwan-Il Kang) 대한전기학회 2006 정보 및 제어 심포지엄 논문집 Vol.2006 No.1

In addition to accurate position and velocity control, force control is necessary for a successful robot operation. In this paper, we have designed a simple robot gripper using a DC motor. For its force control. a current feedback control law is presented without using additional force sensors. Experimental results prove the effectiveness of the proposed control law. A digital controller is also developed with a TMS320LF2406 processor.

Mouth Guard 장착 시 악력의 변화에 관한 연구

천재식 대한구강악안면병리학회 2016 대한구강악안면병리학회지 Vol.40 No.1

It is necessary to make preventive method for the trauma and disturbance complications of orofacial area because athletic trauma are physical and mental defects. Since 1913, an italian boxer discussed mouth guard with dentist and used it. It was reported that mouth guard from field prevented trauma, increased the muscle force and activated electromyogram although the history of mouth guard wearing was short. The mouth guard has prevented the trauma and also increased the muscle force. The purpose was to study muscle force and activity of EMG with mouth guard wearing. It concluded that mouth could prevent trauma and increase the muscle force

연령증가에 따른 여성의 혈압변화와 팔운동 능력의 관계

김준동(Kim, Jun-Dong) 한국체육과학회 2021 한국체육과학회지 Vol.30 No.3

This study aimed to determine the effect of monotonic grip exercise on blood pressure and arterial blood flow rate in the gastric arm in women. As a result, the loading of the bridge, the internal diameter of the blood vessels, the average blood flow rate, and grip strength gradually decreased with age increase. The correlation between each metric showed a significant correlation(p<.05) between physical activity and peak blood pressure at stabilization in the 45–59 age group, and a correlation (p<.05) only between grip motion and vascular endoscopy in the 65–69 age group. The results of this study suggest the need to examine the long–term exercise and vascular effects through the participation of many subjects, given that short–term physical activity and muscular exercise are likely to temporarily improve vascular conditions.