안녕하세요 로봇공학 연구소 주관 전문가 초청 세미나가 1월 21일에 오프라인/온라인으로 진행될 예정입니다. 많은 참여바랍니다. 

제목: 성균관대학교 로봇공학연구소 전문가 초청 세미나
발표자: 김의겸 교수(아주대학교)
일자: 오프라인: 제1공학관 22319호/ 온라인: webex https://skku-ict.webex.com/meet/gusckd0102
발표 제목: “Integrated Linkage-Driven Dexterous Anthropomorphic Robotic Hand”

후원: 로봇공학연구소, AI로봇기반 인간기계협업기술 전문인력양성사업 BK21사업 인간 중심 융합기계솔루션 미래인재양성 교육연구단
문의: 기계공학부 최혁렬 교수 (hrchoi@skku.edu, 031-290-7449)/ 대학원생 강현창(gusckd0102@g.skku.edu, 031-290-7928)


Abstract.
Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34 N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

Bio.
B.S. in Mechanical Engineering, Sungkyunkwan University (SKKU), Aug. 2011.
Ph.D. in Mechanical Engineering, Sungkyunkwan University (SKKU), Aug. 2017.
Senior Researcher in Robotics & Mechatronics Lab., Korea Institute of Machinery & Materials (KIMM), Oct. 2017 – Aug. 2021.
Assistant Professor in Mechanical Engineering, Ajou University, Sept. 2021 – Current.