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Anthropomorphic robot hand control by developing the variable friction system using the principle of sweat and fingerprints.
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 윤동원 | - |
| dc.contributor.author | Donghyun Kim | - |
| dc.date.accessioned | 2026-01-23T10:58:56Z | - |
| dc.date.available | 2026-01-23T10:58:56Z | - |
| dc.date.issued | 2025 | - |
| dc.identifier.uri | https://scholar.dgist.ac.kr/handle/20.500.11750/59766 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000892294 | - |
| dc.description | Fingerprint, Sweat, Robot hand, Friction | - |
| dc.description.tableofcontents | List of Contents List of Contents Abstract i List of contents ii List of tables iii List of figures vi Ⅰ. Introduction 1 Ⅱ. Theoretical Analysis of Water’s Additional Friction Force 8 2.1.1 Adhesive force due to fluid 8 2.1.2 Viscous force due to water in the fingerprint 10 2.1.3 Friction force due to water in the fingerprint 11 2.2.1 Theoretical Validation Through Dynamic Friction Experiments 12 2.2.2 Relation between contact area and friction force 16 Ⅲ. Development of the robotic hand and friction change system 20 3.1 Fingerprint shape selection 20 3.2.1 Robot hand design 23 3.2.2 Grasping experiments 37 Ⅳ. Refinement of the variable friction module 41 4.1.1 Concept of variable friction system 42 4.1.2 Hole size parameter study in the variable friction module 46 4.1.3 Experimental evaluation of hole size effects in the variable friction module 47 4.1.4 Development and fabrication of the variable friction module 51 4.2.1 Experimental evaluation of friction for fluid selection 56 4.2.2 Configuration of experimental environment 57 4.2.3 Static friction force experiment 65 4.2.4 Friction tests for fingerprint modules with various geometries 69 4.2.5 Friction experiments on various surface types 71 4.2.6 Discussion of frictional changes based on different fluids 73 4.3.1 Fluid volume sensor fabrication 75 4.3.2 Development of ideas for fluid volume measurement 75 4.3.3 Electrode fabrication using an impact header 83 4.3.4 Advancement of impact header technology 85 4.3.5 Patterning IDE 96 4.3.6 Theoretical analysis of IDE sensor 98 4.3.6 Experimental evaluation of the fabricated IDE electrodes 102 Ⅴ. Development of a Robotic Hand 109 5.1 Robot hand design 109 5.2.1 Performance test of grasping various objects 115 5.2.2 Repetitive use through the configuration of a sensor-based feedback system ·· 121 5.2.3 Rubbing test 128 5.3 Discussion 135 5.4 Future plan 136 Ⅵ. Conclusion 139 References 140 국문요약 144 |
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| dc.format.extent | 144 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.title | Anthropomorphic robot hand control by developing the variable friction system using the principle of sweat and fingerprints. | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22677/THESIS.200000892294 | - |
| dc.description.degree | Doctor | - |
| dc.contributor.department | Department of Robotics and Mechatronics Engineering | - |
| dc.contributor.coadvisor | Yongjai Park | - |
| dc.date.awarded | 2025-08-01 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RD 김251 202508 | - |
| dc.date.accepted | 2025-07-21 | - |
| dc.contributor.alternativeDepartment | 로봇및기계전자공학과 | - |
| dc.subject.keyword | Fingerprint, Sweat, Robot hand, Friction | - |
| dc.contributor.affiliatedAuthor | Donghyun Kim | - |
| dc.contributor.affiliatedAuthor | Dongwon Yun | - |
| dc.contributor.affiliatedAuthor | Yongjai Park | - |
| dc.contributor.alternativeName | 김동현 | - |
| dc.contributor.alternativeName | Dongwon Yun | - |
| dc.contributor.alternativeName | 박용재 | - |
| dc.rights.embargoReleaseDate | 2028-08-31 | - |
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