Yoon Sang Kim

A new wearable input device: SCURRY

A new wearable input device named SCURRY, developed by the Samsung Advanced Institute of Technology, is introduced in this paper. Based on inertial sensors, this device allows a human operator to select a specified character, an event, or an operation as the input he/she wants spatially through both hand motion and finger clicking. It is a glovelike device, which can be worn on the human hand, composed of a base module, including one controller and two angular-velocity sensors (gyroscopes) on the back of the hand, and four ring-type modules (rings), including two-axis acceleration sensors (accelerometers) on four fingers. The base and the ring modules are integrated modules containing sensors, a transceiver or receiver for communication, and a microcontroller, which makes the device compact and light. The two gyroscopes embedded in the base module have a role in detecting the direction (up, down, right, and left) of the hand motion, and the accelerometers have a role in detecting finger motion generated by finger clicking. An algorithm for the exact finger-click recognition composed of three parts (feature extraction, valid-click discrimination, and crosstalk avoidance) is proposed to improve the recognition performance of finger clicking on SCURRY. The experimental results and discussions are presented. SCURRY can be used as a wearable mouse spatially, by allowing any three fingers to be operated as the left, middle, and right mouse buttons, and in a similar manner, as a wearable keyboard, as it allows a human operator to point and select any character, event, or operation by his hand motion and finger clicking.

A force reflected exoskeleton-type masterarm for human-robot interaction

Two human-robot interactions, including a haptic interaction and a teleoperated interaction, are explored with a new exoskeleton-type masterarm, in which the electric brakes with the torque sensor beams are used for force reflection. In the haptic interaction with virtual environment, the masterarm is used as a haptic device and tested to examine how the resistant torque of the electric brake for the force reflection is implemented in contact regime prior to conducting the teleoperated interaction. Two types of virtual environments, a rigid wall with high stiffness (hard contact with 10 [KN/m]) and a soft wall with low stiffness (soft contact with 0.1 [N/m]), are integrated with the masterarm for the haptic interaction. In hard contact, large force is fed back to the human operator, and makes the human operator hardly move. The electric brake with the torque sensor beam can detect the torque and its direction so that it allows free motion as well as contact motion by releasing or holding the movement of the operator. The experimental results show how the electric brake is switched from contact to free regime to allow the operator to move freely, especially when the operator intends to move toward the free regime in contact. In soft contact, the force applied to the human operator can be increased or decreased proportionally to the torque amount sensed by the torque sensor beam, thus the operator can feel the contact force proportional to the amount of the deformation during the contact. Finally, the masterarm is integrated with the humanoid robot, CENTAUR developed at Korea Institute of Science and Technology to conduct a pick-and-place task through the teleoperated interaction. It is examined that the CENTAUR as a slave robot can follow the movement of the operator.

A new robot motion authoring method using HTM

This paper presents a user-friendly authoring method for humanoid robots using HTM (hierarchical temporal memory), a machine-learning model. The proposed method is an intuitive scheme which allows users (especially children and the elderly who are interested in robots but do not have enough knowledge) to author (create and edit) various motions for the humanoid robot. The new method can derive in real time various motions from the robot postures that users create by turning a dial based on the learning and inference procedures of HTM. Simulation results for authoring a humanoid robot with 26 degrees of freedom (DOF) is given to show the effectiveness of the proposed method.

A Comparative Study on Frequency Estimation Methods

In this paper, a comparative study on the frequency estimation methods using IRDWT(Improved Recursive Discrete Wavelet Transform), FRDWT(Fast Recursive Discrete Wavelet Transform), and GCDFT(Gain Compensator Discrete Fourier Transform) is presented. The 345[kV]power system modeling data of the Republic of Korea by EMTP-RV is used to evaluate the performance of the proposed two kinds of RDWT(IRDWT and FRDWT) and GCDFT. The simulation results show that the frequency estimation technique based on FRDWT could be the optimal frequency measurement method, and thus can be applied to FDR(Fault Disturbance Recorder) for wide-area blackout protection or frequency measurement apparatus.

In vivo analysis of acromioclavicular joint motion after hook plate fixation using three-dimensional computed tomography

BACKGROUND The clavicle hook plate can be used to treat acromioclavicular and coracoclavicular ligament injury or distal clavicular fracture with comminution. However, the hook plate can induce subacromial impingement, resulting in discomfort from the hardware. METHODS Our inclusion criteria were (1) men and women aged older than 20 years and (2) the presence of comminuted distal clavicular fractures (Neer type IIB) fixed with a hook plate (Synthes, Oberdorf, Switzerland). Three-dimensional computed tomography was obtained before removal of the hook plate. Seven patients were enrolled prospectively. The mean age was 42 years (range, 24-60 years). Zero degree images and abduction images were obtained. The sagittal cut surface was obtained 5 mm medial from the distal clavicle. The equator of the cut surface of the clavicle was compared with the full abduction model to analyze rotation. The center of the cut surface of the clavicle was compared with the full abduction model to analyze translation. RESULTS The average difference in rotation of the distal clavicle between both shoulders was 16° (range, 3°-22°; P = .001). The mean difference in anterior translation of the distal clavicle was 2.2 mm (range, -0.7 to 5.6 mm; P = .030). CONCLUSION Hook plate fixation at the acromioclavicular joint causes decreased internal rotation and increased anterior translation of the distal clavicle with respect to the medial acromion, indicating that the scapula relative to the thorax has decreased posterior tilting and increased external rotation in shoulders fixed using a hook plate.

A new exoskeleton-type masterarm with force reflection based on the torque sensor beam

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in the paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operators arm precisely, and its can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

Algorithm for Fault Detection and Classification Using Wavelet Singular Value Decomposition for Wide-Area Protection

An algorithm for fault detection and classification method for wide-area protection in Korean transmission systems is proposed. The modeling of 345-kV and 765-kV Korean power system transmission networks using the Electro Magnetic Transient Program - Restructured Version (EMTP- RV) is presented and the algorithm for fault detection and classification in transmission lines is developed. The proposed algorithm uses the Wavelet Transform (WT) and Singular Value Decomposition (SVD). The Singular value of Approximation coefficient (SA) and part Sum of Detail coefficient (SD) are introduced. The characteristics of the SA and SD at the fault conditions are analyzed and used in the algorithm for fault detection and classification. The validation of the proposed algorithm is verified by various simulation results.

Preliminary Articulable Probe Designs With RAVEN and Challenges: Image-Guided Robotic Surgery Multitool System

The primary focus of the vision systems in current minimally invasive surgery (MIS) surgical systems has been on the improvement of immersive experience through a static approach. One of the current limitations in an MIS robotic surgery is the limited field of view and restricted perspective due to the use of a sole rigid 3D endoscope. We seek to integrate a modular articulable imaging device and the teleoperated surgical robot, RAVEN. Another additional flexible imager can be helpful in viewing occluded surgical targets, giving increased visualization options. Two probe designs are proposed and tested to evaluate a robotized steering mechanism within the MIS robot framework. Both designs, a separate flexible imager and a fixed camera on a tool tip, did not show much improvement in reducing task completion time. The new system may have some potential in improved precise manipulation of surgical tools, which may offer safety benefits once the surgeon is trained. We have demonstrated feasibility of a novel MIS instrument imaging device to aid in viewing potentially occluded surgical targets. A new concept, a modular axis-shared articulable imaging probe located at the vicinity of a tool tip, is proposed for future evaluation. Full integration of the new flexible imaging device into the grasper of the RAVEN surgical robot is under study coordinated with clinicians.

Study on Advanced Frequency Estimation Technique using Gain Compensation

Frequency is an important operating parameter for the protection, control, and stability of a power system. Thus, it must be maintained very close to its nominal frequency. Due to the sudden change in generation and loads or faults in a power system, however, frequency deviates from its nominal value. An accurate monitoring of the power frequency is essential for optimum operation and prevention of wide area blackout. Most conventional frequency estimation schemes are based on the DFT filter. In these schemes, the gain error could cause defects when the frequency deviates from the nominal value. We present an advanced frequency estimation technique using gain compensation to enhance the DFT filter-based technique. The proposed technique can reduce the gain error caused when the frequency deviates from the nominal value. Simulation studies are performed using both the data from EMTP-RV software and the user-defined arbitrary signals to demonstrate the effectiveness of the proposed algorithm. Results show that the proposed algorithm achieves good performance under both steady state tests and dynamic conditions.

Effects of tissue conductivity variations on the cardiac magnetic fields simulated with a realistic heart-torso model.

Cardiac magnetic fields with varying tissue conductivities are simulated. A high-resolution finite-element torso model composed of 19 tissue types and with a voxel resolution of 1.5 mm x 1.5 mm x 3 mm is used. It has a detailed description of tissue geometries and therefore is well suited for analysing the effects of tissue conductivities on the cardiac magnetic fields. The computed results show the greatest sensitivity of the magnetic fields to the changes in the conductivity of blood and myocardium, and less significant sensitivity to the conductivity of the lungs, muscle, fat and other tissues. These results are relevant to future modelling of magnetocardiograms and solving the inverse problem. They also emphasize the importance of careful modelling of the blood and heart regions, and suggest that less attention needs to be directed to bone or fat tissue.