• Journal of Advanced Marine Engineering and Technology
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• v.34 no.2
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• pp.318-324
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• 2010

In this paper, the structure of the gravity compensator has been designed and applied to a light structure of a new 6-axis robot manipulator to enhance its torque performance. Also, analyses on the kinematics and inverse-kinematics of the manipulator have been performed. An FEM analysis has been performed on the structure of robot links to have an excellent performance of delivering 25 kg payload despite of 30kg weight, which is very light compared with other manipulators. Through the FEM analysis, the stability on the vending or fracture of the links of the robot manipulator has been verified.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.60-68
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• 1999

This paper deals with the tracking control problem of industrial robotic manipulators with unknown or changing dynamics. The proposed method makes use of multiple moodels and switching mechanism by fuzzy inference of the manipulator in an indirect adaptive controller architecture. The models used for the indmtification of the manipliator are identical, except for the initial estimates of the unknown inertial pararmeters of the manipulator and its load. The torque input that is applied to the joint actuators is determined at every instant by the identification model that best approximates the robot dynamics. Simulation results are also included to dermnstrate the improvement in the tracking perfermance when the proposed method is used.s used.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.6
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• pp.608-615
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• 1999

In this paper, the compliance control method was propoSL'Cl and the phase-difference operating principle of an u ultrasonic motor described. The compliance control can he implementtcD with spring/damper properties of the r musculo-skeletal system of the actual limb in controlling its net configuration and movement. The proposed p phase-difference driving scheme is verifitcD through the computer simulation. Also, $textsc{k}$rformance of the proposed c control method of a two-link direct-drive manipulator are examinLD by the experimental results with resptc'Ct to s spring/ damper properties.

• Journal of the Korean Applied Science and Technology
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• v.37 no.6
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• pp.1556-1566
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• 2020

The purpose of this study was to investigate the effect of Nurida-Ball exercise on isokinetic muscle function, spinal alignment, and dynamic balance capacity in middle-aged men. All middle-aged men(n=16) were divided into 2 groups: Ball exercise(BE, n=8) and control(CON, n=8) group. BE group performed the Nurida-Ball exercise(30 min/day, 3 days/week, 8 weeks) and isokinetic knee and trunk muscle function, spinal alignment, and dynamic balance capacity were measured. All of the measured variables calculated the mean and standard deviation and verified normality using the Shapiro-Wilk test. The independent t-test method and the Paired t-test method were then analyzed to identify differences between groups. This study found that isokinetic knee and trunk muscle function was significantly strengthened in the BE compared with CON group by increasing peak torque(PT) of right and left knee extension(60°/sec, p<0.01, respectively), average power(AP) of right and left knee extension(60°/sec, p<0.05, p<0.01, respectively), and PT of right knee flexion(180°/sec, p<0.05) and AP of right knee extension(180°/sec, p<0.05). In the change of isokinetic trunk muscle function, only PT of trunk extension(180°/sec) was increased in the BE compared with the CON group(p<0.05). In addition, Nurida-ball exercise can improve the spinal alignment by reducing the trunk inclination(p<0.05) in the BE compared with the CON group. Finally, dynamic balance capacity was also enhanced in the BE compared with the CON group by decreasing the score of overall balance index(OBI, p<0.01) and Antero-posterior balance index(p<0.05) in the Stage-6, and OBI(p<0.05) in the Stage-1. This result demonstrated that Nurida-ball exercise may improve spinal alignment, dynamic balance capacity, and isokinetic muscle function, which might be an effective way for the improvement of health-related fitness in middle-aged men.

• Journal of Dental Rehabilitation and Applied Science
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• v.34 no.2
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• pp.80-88
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• 2018

Purpose: Implant surface modification and implant design are the principle targets for achieving successful primary stability. The aim of this study was to measure implant stability quotient (ISQ) values of sandblasted, large-grit, acid-etched (SLA) implants with tapered straight body design during the healing period, and to determine the various factors affecting implant stability. Materials and Methods: To measure implant stability, resonance frequency analysis (RFA) was performed in 26 patients (13 women and 13 men) with 44 SLA implants with tapered straight body design. Implant stability (ISQ values) was evaluated at baseline and healing abutment connection (12 weeks), and the correlations between RFA and insertion torque (IT), bone quality, and jawbone were determined. Results: The mean ISQ value of the implants was $69.4{\pm}10.2$ at the time of implant placement (baseline) and $81.4{\pm}6.9$ at the time of healing abutment connection (P < 0.05). Significant differences were found between RFA and bone quality and between RFA and jawbone (P < 0.05). No significant differences were found between RFA and IT, insertion area, fixture diameter, and implant length (P > 0.05). Conclusion: ISQ values of SLA implants with tapered straight body design were high at baseline and healing abutment connection. It was concluded that SLA implants with tapered straight body design show improved primary and secondary stability, and that immediate or early loading may be applicable.

• Journal of Dental Rehabilitation and Applied Science
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• v.26 no.2
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• pp.97-109
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• 2010

Purpose : This study was designed to evaluate the influence of implant abutment materials on detorque value and screw joint stability before and after dynamic fatigue test. Materials & Methods : The external hexagonal fixture and three different groups of abutment (titanium abutments, zirconia abutments, and UCLA abutments) were used. The detorque value before loading and after loading (cyclic loading up to $10^5$ cycles) of the abutment screw were measured. Result : 1. There was no significant difference in detorque value before loading among the each group. 2. There was no significant difference in detorque value after loading among the each group. 3. Detorque values before and after cyclic loading in each group were not significantly different. 4. There was no significant difference in loss percentage of removal torque before loading among the each group. 5. There was no significant difference in loss percentage of removal torque after loading among the each group. 6. There was no significant difference in loss percentage of removal torque according to loading among the each group. Conclusion : Short term screw loosening of three types of abutment was not significantly different. When bite force was applied, there was no significant difference in screw loosening between before loading and after loading.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.534-539
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• 2008

This paper is about intelligent hexapod robot for the support walking of the aged person. The robot using various sensors and small camera has various abilities of forward backward walking, turing left or right, control the speed of walking, avoiding the obstacles and detecting risky situation of fire or gas. To let the aged feel soft and safe walking, we used special servo motor and developed hexapod walking mechanism and effective algorithm.

• Journal of Dental Rehabilitation and Applied Science
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• v.24 no.3
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• pp.283-298
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• 2008

The purpose of this study was to evaluate mechanical fit of fixture- abutment-screw interface in the internal connection implant systems. In this study, each two randomly selected internal implant fixture- abutment assemblys from Certain, Xive, Replace, Ankylos, SS II. were used. The implants were perpendicularly mounted in liquid unsaturated polyester by use of dental surveyor. Each abutment was connected to the implant with recommended torque value using a torque controller. All samples were cross-sectioned with grinder-polisher unit after embeded in liquid unsaturated polyester, and then fixture-abutment-screw interfaces of all samples by using optical microscope and scanning electron microscope were analyzed. Conclusively, although a little variation in machining accuracy and consistency was noted in the samples, important features of all internal connection systems were the deep, internal fixture-abutment connections which provides intimate contact with the implant walls to resist micromovement, resulting in a strong stable interface.