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Ultrasonic inspection robot systems have been widely researched and developed for the real-timemonitoring of structures such as power plants. However, an inspection robot that is operated in a simple patternhas limitations in its application to various structures in a plant facility because of the diverse and complicatedshapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objectswith high-precision results. This paper presents the idea that the shape and movement information of an ultrasonicinspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensorwas applied to monitor the shape of a human hand. This application was designed to intuitively control anultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors.Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of ahuman hand estimated using polymer flex sensors.

Shape-Estimation of Human Hand Using Polymer Flex Sensor and Study of Its Application to Control Robot Arm