Minkyu Kim

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Myo-electric signals have been widely used in human-machine interfaces because these biosignal directly reflect human intentions to robots. The major difficulty of applying these biosignal in a pattern recognition system in real time is that they are unstable and vary in time. This instability occurs outside of the steady state of the signal, at the(More)
This paper presents a real-time framework for tele-manipulation by using sEMG signals to estimate both human motion and force intention. Our previous study showed that the ability to detect discrete force levels was not applicable to complex tasks such as grasping, holding, and manipulating various objects with variable force. Consequently, we identified(More)
In this paper, we present a real-time motion and force capturing system for tele-operated robotic manipulation that combines surface-electromyogram (sEMG) pattern recognition with an inertia measurement unit(IMU) for motion calculation. The purpose of this system is to deliver the human motion and intended force to a remote robotic manipulator and to(More)
This paper presents analytical modeling of disk-type Variable Friction Tactile Displays (VFTD) producing squeeze-film air damping elicited by ultrasonic flexural standing waves of piezoelectric-glass composites. Energy-based Lagrangian mechanics was employed to derive the system dynamic equations of motion of the VFTD vibrating at its fundamental mode. The(More)
This paper proposes a special technique for pattern classification problems using the sEMG signal from human forearm muscles. For improvement of classification accuracy, a multi-reference is set for each class so that the classifier can cover a wide range of obtained signals for training. The results of classification accuracy through an off-line simulation(More)
We describe an algorithm for indoor mobile robot navigation using wireless sensor network. In our navigation system, a robot can navigate autonomously without the need for a map, a compass, or GPS. We use only several sensor nodes with ultrasonic sensors. Sensor nodes are deployed in an indoor environment and each sensor node has routing paths to all(More)
This paper presents a control method of multi-DOF power assistant robots for anatomical multi-axis joints such as the wrist and the ankle. It is difficult to calculate the accurate direction of human motion intention during manipulating an object due to discrepancy between the calculated force from F/T sensor and the real human intention. Only using an sEMG(More)
Surface electromyography (sEMG) signals have been applied as control commands in numerous human-robot interface systems and have been deployed for rehabilitation or clinical applications. Although lots of previous workers have tried to determine features appropriate for specific sEMG-signal classification problems, little of this work has involved deeply(More)
As power-assisted robots such as exoskeleton robot have been widely used in eclectic applications, the robot becomes more interactive than industrial robots. More specifically, the power-assisted robot for rehabilitation requires to enhance power with respect to the intended motion. To do that, the power-assisted robot should recognize which part of(More)
We investigate the problem of integrating network coding into heterogeneous wireless networks where a number of coding nodes are to be placed among legacy nodes that do not handle network coding operations well. In particular, we seek to understand better the following questions: 1) how many coding nodes are needed, 2) where should the coding nodes be(More)