• Journal of Sensor Science and Technology
• /
• v.26 no.5
• /
• pp.353-359
• /
• 2017

This paper describes the design and manufacture of a ankle two-axis force sensor of a walking assist robot for hemiplegic leg patient. The walking assist robot for the hemiplegic leg patient can safely control the robot by detecting whether the foot wearing the walking assist robot is in contact with the obstacle or not. To do so, a two-axis force sensor should be attached to the robot's ankle. The sensor is used to measure the force of a patient's ankle lower part. The two-axis force sensor is composed of a Fx force sensor, a Fy force sensor and a pulley, and they detect the x and y direction forces, respectively. The two-axis force sensor was designed using by FEM(Finite Element Method), and manufactured using by strain-gages. The characteristics experiment of the two-axis force sensor was carried out respectively. The test results indicated that the interference error of the two-axis force sensor was less than 1.2%, the repeatability error and the non-linearity of the two-axis force sensor was less than 0.04% respectively. Therefore, the fabricated two-axis force sensor can be used to measure the force of ankle lower part in the walking assist robot.

• Journal of Sericultural and Entomological Science
• /
• v.16 no.2
• /
• pp.119-125
• /
• 1974

When the nomal silkworms reached active time of 3rd instar stage both non-moulting larva and normal silkworms from the same rearing tray were collected and fixed. The silkworms in 4th instar stage whose growth was as dwarfish as those in 1st and 2nd instar stages were also collected and fix with the normal silkworms. Non-moulting larva and normal silkworms were morphologically compared and the examined results from the tissue inspection are summarized as follows： 1. In spite of the fact that the normal silkworms reached the active eating time of 3rd instar stage non-moulting silkworms were dwarfish as if they had been reared for two days. Non-moulting silkworms which were observed at the time of 4th instar stage showed no much difference in their growth. 2. There was the tendency that the exuvial gland as was shown in Fig. 1 and 2 was flat cyslidium of ellipse and its size at thorax was small shile the gland at abdomen was big. 3. The exuvial gland at thorax has been reported to be bigger at thoracic base than at dorsal vessel but according to the present it was examined to be irregular. 4. The size of exuvial gland of silkworms in the active eating stage of 3rd instar was from 151.3${\mu}$ (major axis) to 94.5${\mu}$ (minor axis) at prothorax and from 568.6${\mu}$ (major axis) to 495.1${\mu}$ (minor axis) at 7th abdominal segment. The sire oe exuvial gland of non-moulting silkworm was 57.5${\mu}$ (major axis) to 51.3${\mu}$ (minor axis) at prothorax and from 91.5${\mu}$ (major axis) to 75.5${\mu}$ (minor axis) at 5th abdominal segment (see Fig. 1) 5. When the normal silkworms reached 4th instar active eating stage its exuvial gland was compared to that of dwarfish silkworm. The result was that the size of normal silkworm at prothorax was from 252.2${\mu}$ (major axis) to 131.6${\mu}$ (minor axis) and the size of exuvial gland at 7th abdominal segment was from 691.5${\mu}$ (major axis) to 493.4${\mu}$ (minor axis) while the sire of exuvial gland of non-moulting at prothorax was from 71.4${\mu}$ (major axis) to 61.5${\mu}$ (minor axis) and the size of the non-moulting silkworm's 8th abdominal segment was from 94.6${\mu}$ (major axis) to 71.5${\mu}$ (minor axis) (See Table 2) 6. There was a remarkable difference in the from of exuvial gland of non-moulting silkworm. The size of alveolar of the non-moulting silkworm was many times larger compared to that of normal silkworm 7. There was no great difference between secretory cells of normal and non-moulting silkworms but the granular type exuvial gland was small in sire compared to that of normal silkworm.

• Journal of Biomedical Engineering Research
• /
• v.22 no.6
• /
• pp.543-550
• /
• 2001

In this study, ground reaction force(GRF) and energy consumption of fixed. single-axis and multi-axis Prosthetic ankle assemblies were investigated to show the biomechanical evaluation for trans-tibial amputees. In the experiments. two male and two female trans-tibial amputees were tested with fixed, sin91e-axis and multi-axis Prosthetic ankle assembly. A three-dimensional gait analysis was carried out to derive the ratio of GRF to weight as the percentage of total stance Phase for nine Points Energy consumption of each Prosthetic ankle assembly was measured while subjects walked at 2km/h. 3km/h and the most comfortable walking speed on the treadmill The results showed that multi-axis ankle was superior to the other two ankle assemblies for the characteristic of forwarding and breaking forces. Fixed ankle was relatively superior to the other two ankle assemblies for gait balancing and movement of the center fur mass Compared to the other ankle assembly. sing1e-axis type showed lower energy consumption over 2.3km/h walking speed .

• Journal of Biosystems Engineering
• /
• v.30 no.5 s.112
• /
• pp.293-298
• /
• 2005

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

• Journal of Sensor Science and Technology
• /
• v.24 no.2
• /
• pp.137-143
• /
• 2015

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.

• The Bulletin of The Korean Astronomical Society
• /
• v.44 no.2
• /
• pp.45.2-45.2
• /
• 2019

The main-belt asteroid (5247) Krylov is known as a Non-Principal Axis (NPA) rotator. However, the shape model and spin state of this asteroid were not revealed. The physical model of an asteroid including spin state and shape is regarded to be important to understand its physical properties and dynamical evolution. Thus, in order to reconstruct the physical model of Kryolv, we applied the light curve inversion method using not only the optical light curves observed with ground-based telescopes in three apparitions during 2006, 2016, and 2017, but also the infrared light curves obtained with the Wide-field Infrared Survey Explorer (WISE) in 2010. We found that it is rotating in Short Axis Mode (SAM) with the rotation and precession periods of 368.71 hr and 67.277 hr, respectively. The orientation of the angular momentum vector is (298°, -58°) in the ecliptic coordinate system. The ratio of moments of inertia of the longest axis to the shortest axis is I_a/I_c = 0.36; the ratio of moments of inertia of the intermediate axis to the shortest axis is I_b/I_c = 0.96. Finally, the excitation level of this asteroid is found to be rather low with a ratio of the rotational kinetic energy to the basic spin state energy as E/E₀ ≃ 1.024. We will briefly discuss the possible evolutionary process of Krylov in this presentation.

• The Journal of Korea Robotics Society
• /
• v.17 no.2
• /
• pp.152-158
• /
• 2022

As various mobile robots and manipulator robots have been commercialized, robots that can be used by individuals in their daily life have begun to appear. With the development of robots that support daily life, the interaction between robots and humans is becoming more important. Manipulator robots that support daily life must perform tasks such as pressing buttons or picking up objects safely. In many cases, this requires expensive multi-axis force/torque sensors to measure the interaction. In this study, we introduce a low-cost two-axis pressure sensor that can be applied to manipulators for education or research. The proposed system used three force sensitive resistor (FSR) sensors and the structure was fabricated by 3D printing. An experimental device using a load cell was constructed to measure the biaxial pressure. The manufactured prototype was able to distinguish the +-x-axis and the +-y-axis pressures.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.25 no.9
• /
• pp.879-885
• /
• 2014

In this paper, we designed and fabricated wideband 3-axis isotropic antenna for the Electro-Magnetic Fields(EMFs) measurement. Each part of proposed 3-axis antenna has isotropic characteristics and arbitrary axis of proposed 3-axis antenna could be selectable using RF switch. Also, a resistor was inserted in each axis of proposed 3-axis antenna for improving antenna gain and noise suppression characteristics, and port impedance of each dipole antenna were matched by balun. For the performance verification of antenna, GTEM Cell which generates standard electromagnetic field was used for the derivation of antenna factor and receiver sensitivity. As a result, fabricated 3-axis isotropic antenna has receiver sensitivity of 0.12~4.2 mV/m and typical VSWR of 3.3:1 within a wide operation frequency range from 0.03 MHz to 3 GHz.

• Korean Journal of Computational Design and Engineering
• /
• v.6 no.2
• /
• pp.69-77
• /
• 2001

This paper describes a method of calculating the feedrate for the constant cutting speed at a CL-point in 5-axis machining. Unlike 3-axis machining, 5-axis machining has the flexibility of the tool motions due to two rotation axes. But the feedrate at joint space differs from the feedrate at a tool tip(the CL-point) of the 3D Euclidean space for the tool motions. The proposed algorithm adjusts the feedrate based on 5-axis NC data, the kinematics of a machine, and the tool length. The following calculations is processed for each NC block to generate the new feedrate; 1) calculating the moving distance at the CL-point, 2) calculating the moving time by the given feedrate, 3) calculating the feedrate of each axis, 4) getting the new feedrate. The proposed algorithm was applied to a 5-axis machine which had a tilting spindle and a rotary table. Totally, the result of the algorithm reduced the machining time and smoothed the cutting-load by the constant cutting speed at the CL-point.

• Korean Journal of Remote Sensing
• /
• v.9 no.2
• /
• pp.7-19
• /
• 1993

In stereo vision, when we use two parallel axis images, small portion of object is contained and B/H(Base-line to Height) ratio is limited due to the size of object and depth information is inaccurate. To overcome these difficulities we take a non-parallel axis image which is rotated $\theta$ about y-axis and match other parallel-axis image. Epipolar lines of non-parallel axis image are not same as those of parallel-axis image and we can't match these two images directly. In this paper, we transform the non-parallel axis image geometrically with camera parameters, whose epipolar lines are alingned parallel. NCC(Normalized Cross Correlation) is used as match measure, area-based matching technique is used find correspondence and 9$\times$9 window size is used, which is chosen experimentally. Focal length which is necessary to get depth information of given object is calculated with least-squares method by CCD camera characteristics and lenz property. Finally, we select 30 test points from given object whose elevation is varied to 150 mm, calculate heights and know that height RMS error is 7.9 mm.