A5101776496- Robot Manipulation and Learning
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Advanced Sensor and Energy Harvesting Materials
- Advanced Fiber Laser Technologies
- GaN-based semiconductor devices and materials
- User Authentication and Security Systems
- Biometric Identification and Security
- Tactile and Sensory Interactions
- Engineering Applied Research
- Prosthetics and Rehabilitation Robotics
- Optical Coherence Tomography Applications
- Piezoelectric Actuators and Control
- Forensic Fingerprint Detection Methods
- Laser-Matter Interactions and Applications
- Semiconductor materials and devices
- Force Microscopy Techniques and Applications
- Spectroscopy Techniques in Biomedical and Chemical Research
- Theoretical and Computational Physics
- Diamond and Carbon-based Materials Research
- Robotic Locomotion and Control
- 3D IC and TSV technologies
- Quantum Information and Cryptography
- Muscle activation and electromyography studies
- Optical Network Technologies
Korea Advanced Nano Fab Center
2023-2025
Korea Institute of Science & Technology Information
2024
Yonsei University
2024
Daegu Gyeongbuk Institute of Science and Technology
2019-2023
This article proposes a novel compliance compensator that can measure six-axis force, torque and displacement. The proposed device provide the information necessary for feedback control while protecting robot from impact. was designed based on 6-DOF parallel mechanism to have sensing deform greatly at rated load without failure. We new flexure links with joints connected in series, which facilitates fabrication stiffness analysis. Through analysis, measured force be converted displacement of...
Abstract Multi-mode NOON states can quantum-enhance multiple-phase estimation in the absence of photon loss. However, a multi-mode state is known to be vulnerable loss, and its quantum-enhancement dissipated by lossy environment. In this work, we demonstrate that quantum advantage estimate precision still achieved presence This accomplished optimizing weights according loss rates multiple modes, including reference mode which defines other phases. For practical relevance, also show...
In this paper, we study the influence of fingerprint and sweat on friction between hand an object. When contacts a finger or object, it is sometimes easy to pick up particular, can see phenomenon when grasping thin object such as paper vinyl. The reason for increase force, physically analyzes natural phenomenon. To end, investigate cause force solid liquid calculate water present within fingerprint. support theoretical analysis, conduct experiments measure by making finger-shaped silicon...
In this study, a Crossed Flexural Hinge (CFH) structure was used for the design of humanoid robot hand that can absorb any abrupt external force and has large payload, giving it advantages both rigid compliant robots. Structural problems were identified through 6 × stiffness matrix to analyze whether CFH is suitable use as an anthropomorphic hand. To reinforce weak stiffness, paired (p-CFH) proposed joints. addition, verified theoretical experimental methods p-CFH superior characteristics...
In our daily life, when a small amount of sweat or water forms on person's hand, we can empirically feel that the friction force hand increases, and objects are gripped well. However, if heavily, decrease holding an object. this study, analyzed degree to which fingerprints present affect between gripping We fabricated anthropomorphic robot with fingerprint structure set up environment similar human performed object-holding friction-change experiments by changing verify phenomenon be applied...
In this study, a soft protrusion type sensor that can detect slip was designed. general, gripper or robot hand receives additional information using vision system, force sensor, and tactile to stably grip an object. These sensors require lot of cost manufacture, the grippers be applied are limited. Therefore, in order overcome limitation, has low manufacturing various manufactured strain gauges silicon. The performance proposed two types confirmed through detection experiments. addition, it...
This letter proposes and verifies a new method, the ring-pull mechanism, to overcome disadvantages of existing wearable robotic gloves. By attaching ring metacarpopha-langeal joint finger, mechanism supplements grasping force user, while reducing weight entire glove system. Ring-pull experiments were conducted determine which finger combinations had most positive effect on muscle strength assistance, through this, Ring-Pull type Soft Glove (RPSG) was developed. The main body developed RPSG...
Multi-mode NOON states can quantum-enhance multiple-phase estimation in the absence of photon loss. However, a multi-mode state is known to be vulnerable loss, and its quantum-enhancement dissipated by lossy environment. In this work, we demonstrate that quantum advantage estimate precision still achieved presence This accomplished optimizing weights according loss rates multiple modes, including reference mode which defines other phases. For practical relevance, also show photon-number...
Multiple-phase estimation exploiting quantum states has broad applications in novel sensing and imaging technologies. However, the unavoidable presence of lossy environments practical settings often diminishes precision phase estimations. To address this challenge, we propose an optimal multiple-phase scheme that is inherently robust against photon loss, ensuring a persistent advantage across all levels loss. The employs multi-mode definite photon-number (DPN) state with weights optimized...
Owing to an increase in diverse disaster incidents instigated by natural catastrophes and human error, extensive research on mobile robots, designed for environment comprehension rescue operations, has become more prevalent. Specifically, endeavors are being undertaken equip robots with grippers, enabling confined space navigation life-saving activities within disastrous circumstances. Prominent among these investigations into hybrid grippers actuation systems, utilizing both hard soft...
GaN-based devices for RF and high-power applications use multi-finger configuration to achieve desired high output power. The self-heating effects reliability of single-finger GaN transistors have been reported, however, a holistic understanding thermal within commercially viable configurations, as well the ramifications these dynamics on device reliability, is yet be fully realized. In this work, we (i) examine difference in mechanism between GaN-on-Si HEMTs by high-resolution...
In this paper, a new in-pipe inspection robot was developed for inspecting large number of circular pipe insides the sea plant, ships, and buildings. A pressure generation system devised to inspect pipes with different diameters move up down slant or perpendicular slopes inside pipe. Also, design method analyzed decide capacity driving motor if mass maximum velocity are identified. According specification, tested verify performance system. For tests, control developed.