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비선형 특징투영 기법을 이용한 웨이블렛 기반 근전도 패턴인식
추준욱,문인혁,Chu Jun-Uk,Moon Inhyuk 대한전자공학회 2005 電子工學會論文誌-SC (System and control) Vol.42 No.2
본 논문에서는 다기능 근전의수를 제어하기 위해 전완에서 취득한 4 채널의 근전도로부터 9 가지 동작을 인식하는 새로운 방법을 제안한다. 비정상 신호특성을 가진 근전도를 해석하기 위해서 시간-주파수 영역에서 표현되는 특징벡터를 웨이블렛 패킷변환을 통해 추출한다. 높은 차원을 가지는 시간-주파수 특징벡터에 대하여 차원축소와 비선형변환을 수행하기 위해 PCA와 SOFM으로 구성된 특징투영 방법을 제안한다. PCA를 이용한 차원축소는 패턴분류기의 구조를 단순화하고 패턴인식을 위한 계산시간을 단축할 수 있다. SOFM을 이용한 비선형변환은 PCA에 의해 차원이 축소된 특징벡터를 새로운 공간으로 투영함으로써 클래스 분리도를 향상시킨다. 마지막으로 각 동작은 패턴분류기인 다층 신경회로망에 의해 인식된다. 실험 결과로부터 제안한 방법이 높은 인식률을 보임과 동시에 연속적인 패턴인식을 위한 실시간 구현이 가능함을 보인다. This paper proposes a novel approach to recognize nine kinds of motion for a multifunction myoelectric hand, acquiring four channel EMG signals from electrodes placed on the forearm. To analyze EMG with properties of nonstationary signal, time-frequency features are extracted by wavelet packet transform. For dimensionality reduction and nonlinear mapping of the features, we also propose a feature projection composed of PCA and SOFM. The dimensionality reduction by PCA simplifies the structure of the classifier, and reduces processing time for the pattern recognition. The nonlinear mapping by SOFM transforms the PCA-reduced features to a new feature space with high class separability. Finally a multilayer neural network is employed as the pattern classifier. From experimental results, we show that the proposed method enhances the recognition accuracy, and makes it possible to implement a real-time pattern recognition.
송강일,추준욱,서준교,최귀원,유선국,윤인찬,Song, Kang-Il,Chu, Jun-Uk,Suh, Jun-Kyo Francis,Choi, Kui-Won,Yoo, Sun-K.,Youn, In-Chan 대한의용생체공학회 2011 의공학회지 Vol.32 No.1
Cuff electrodes have a benefit for chronic electroneurogram(ENG) recording while minimizing nerve damage. However, the ENG signals are usually contaminated by electromyogram(EMG) activity from the surrounding muscle, the thermal noise generated within the source resistance, and the electric noise generated primarily at the first stage of the amplifier. This paper proposes a new cuff electrode to reduce the interference of EMG signals. An additional middle electrode was placed at the center of cuff electrode. As a result, the proposed cuff electrode achieved a higher signal-to-interference ratio compared to the conventional tripolar cuff. The cuff electrode was then assembled together with closure, headstage, and hermetic case including electronic circuits. This paper also presents a lownoise amplifier system to improve signal-to-noise ratio. The circuit was designed based on the noise analysis to minimize the electronic noise. The result shows that the total noise of the amplifier was below $1{\mu}V_{rms}$ for a cuff impedance of $1\;k{\Omega}$ and the common-mode rejection ratio was 115 dB at 1 kHz. In the current study, the performance of nerve cuff electrode system was evaluated by monitoring afferent nerve signals under mechanical stimuli in a rat animal model.
인공고관절 전치환술에서 세라믹 볼 헤드의 기계적 안정성 평가를 위한 유한요소 해석
한성민,추준욱,전흥재,김정성,최귀원,윤인찬,Han, Sung-Min,Chu, Jun-Uk,Chun, Heoung-Jae,Kim, Jung-Sung,Choi, Kui-Won,Youn, In-Chan 대한의용생체공학회 2010 의공학회지 Vol.31 No.6
A ceramic articulating system in total hip replacement thought to be superior to metal-on-polyethylene due to its extremely low coefficient of friction and potential for high resistance to wear. But ceramic is brittle, which makes it mechanically and theoretically susceptible to fracture under certain mechanical conditions. In the current study, nine different models of ceramic ball heads were mechanically evaluated using 3D finite element(FE) analyses. It was found that the maximum stress in all ceramic models was lower than ceramic flexural strength, and it satisfied the requirements of the FDA Gaudience for artificial hip implant. Thus, ceramic ball head models introduced in the current study could be mechanically safe for clinical applications.
신호선,추준욱,이승하,이연정,Shin, Ho-Sun,Chu, Jun-Uk,Lee, Seung-Ha,Lee, Yun-Jung 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.12 No.2
새로운 3차원 도립진자 시스템의 구현 및 퍼지제어에 관하여 논한다. 기존의 1차원 또는 2차원 도립진자 시스템과 달리, 3차원 도립진자 시스템은 상하 운동을 포함하는 인간의 도립진자 제어행위를 적절히 모사할 수 있는 새로운 시스템이다. 3차원 도립진자 시스템의 특성 분석과 퍼지제어기 설계를 위하여 3축 직교로봇과 도립진자를 포함하는 기구부의 동력학식을 유도한다. 로봇의 여유자유도와 제한된 작업영역을 고려하면서 도립진자의 요오(yaw) 및 피치(pitch)각을 제어하기 위한 퍼지제어기 설계 방법을 제안한다. 개발된 PC 기반의 다축제어보드를 이용한 실험 결과를 통하여 제안된 시스템의 성능을 검증한다. The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.
신호선(Ho-Sun Shin),추준욱(Jun-Uk Chu),이승하(Seungha Lee),이연정(Yun-Jung Lee) 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.13 No.2
새로운 3차원 도립진자 시스템의 구현 및 퍼지제어에 관하여 논한다. 기존의 1차원 또는 2차원 도립진자 시스템과 달리, 3차원 도립진자 시스템은 상하 운동을 포함하는 인간의 도립진자 제어행위를 적절히 모사할 수 있는 새로운 시스템이다. 3차원 도립진자 시스템의 특성 분석과 퍼지제어기 설계를 위하여 3축 직교로봇과 도립진자를 포함하는 기구부의 동력학식을 유도한다. 로봇의 여유자유도와 제한된 작업영역을 고려하면서 도립진자의 요오(yaw) 및 피치(pitch)각을 제어하기 위한 퍼지제어기 설계 방법을 제안한다. 개발된 PC 기반의 다축제어보드를 이용한 실험 결과를 통하여 제안된 시스템의 성능을 검증한다. The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.
정동현(Dong-Hyun Jeong),추준욱(Jun-Uk Chu),이연정(Yun-Jung Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.8
This paper proposes an IR (infrared) LED (Light Emitting Diode)-based tactile fingertip sensor that can independently measure the normal and tangential force between the hand and an object. The proposed IR LED-based tactile sensor has several advantages over other technologies, including a low price, small size, and good sensitivity. The design of the first prototype is described and some experiments are conducted to show output characteristics of the proposed sensor. Furthermore, the effectiveness of the proposed sensor is demonstrated through anti-slip control in a multifunction myoelectric hand, called the KNU Hand, which includes several novel mechanisms for improved grasping capabilities. The experimental results show that slippage was avoided by simple force control using feedback on the normal and tangential force from the proposed sensor. Thus, grasping force control was achieved without any slippage or damage to the object.