• 대한의용생체공학회:의공학회지
• /
• 제28권6호
• /
• pp.744-749
• /
• 2007

Kinematic and kinetic analysis has been performed for Soft Golf swings utilizing realistic three dimensional computer simulations based on three dimensional motion tracking data. Soft Golf is a newly developed recreational sport in South Korea aimed to become a safe and easy-to-learn sport for all ages. The advantage of Soft Golf stems from lighter weight of the club and much larger area of the sweet spot. This paper tries to look into kinematic and kinetic aspects of soft golf swings compared to regular golf swing and find the advantages of lighter Soft Golf clubs. For this purpose, swing motions of older aged participants were captured and kinematic analysis was performed for various kinematic parameters such as club head velocity, joint angular velocity, and joint range of motions as a pilot study. Kinetic analysis was performed by applying kinematic data to computer simulation models constructed from anthropometric database and the measurements from the participants. The simulations were solved using multi-body dynamics solver. Firstly, the kinematic parameters such as joint angles were obtained by solving inverse dynamics problem based on motion tracking data. Secondly, the kinetic parameters such as joint torques were obtained by solving control dynamics problem of making joint torque to follow pre-defined joint angle data. The results showed that mechanical loadings to major joints were reduced with lighter Soft Golf club.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2000년도 춘계학술대회논문집A
• /
• pp.268-273
• /
• 2000

Velocity-dependent increase in tonic stretch reflexes is one of the prominent characteristics of spasticity. It is very important to evaluate spasticity objectively and quantitatively before and after treatment for physicians. An accurate quantitative biomechanical evaluation for the spasticity which is caused by the disorder of central nervous system is made in this study. A sudden leg dropper which is designed to generate objective testing environment at every trial gives very effective environment for the test. Kinematic data are archived by the 3-dimensional motion analysis system($Elite^{(R)}$, B.T.S., Italy). Kinematic data are angle and angular velocity of lower limb joints, and length and lengthening velocity of lower limb muscle. A program is also developed to analyze the kinematic data of lower limb, contraction and relaxation length of muscles, and dynamic EMG data at the same tim. To evaluate spasticity quantitatively, total 31 parameters extracted from goniogram, EMG and muscle model are analyzed. Statistical analysis are made for bilateral correlations for all parameters. The described instrumentation and parameters to make quantitative and objective evaluation of spasticity shows good results.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.42-45
• /
• 2002

General wheel mark in mono-crystalline silicon wafer finding is able to be expected because it depends on radius ratio and angular velocity ratio of wafer and wheel. The pattern is predominantly determined by the contour of abrasive grits resulting from a relative motion. Although such a wheel mark is made uniform pattern if the process parameters are fixed, sub-surface defect is expected to be distributed non-uniformly because of characteristic of mono-crystalline silicon wafer that has diamond cubic crystal. Consequently it is considered that this phenomenon affects the following process. This paper focused on kinematic analysis of wafer grinding process and simulation program was developed to verify the effect of process variables on wheel mark. And finally, we were able to predict sub-surface defect distribution that considered characteristic of mono-crystalline silicon wafer

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.764-775
• /
• 2002

A kinematic and dynamic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. To provide sufficient degrees-of-freedom in the rolling process and the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. By splitting the weighted Jacobian matrices Into two parts, the linear velocity, angular velocity, force, and moment transmissivities are analyzed. A manipulability measure, the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring Joints, are optimally designed by maximizing the global manipulability measure in the entire workspace. The maximum force needed in the hydraulic actuator is also calculated using the structure determined through the kinematic analysis and the Plucker coordinates. Simulation results are provided.

• 한국운동역학회지
• /
• 제20권1호
• /
• pp.41-47
• /
• 2010

The purpose of this study was to evaluate the kinematic effect of upper extremity usage for the scoccer instep kick motion. Ten male university students were recruited as the subjects. Temporal parameters, ball velocity, velocity of CG, angle of segment, angular velocity, and trunk orientation angle were determined for each trial. The results showed that temporal parameters in WU and WORU were significantly less than those found in WOU during pre impact phase. These indicated that no usage of upper extremity may increase excessive setup time in order to improve the accuracy of instep kick. Angle of right knee in WOU at LC was significantly greater than corresponding value for WU since angular momentum contributions of the lower limb were not effectively balanced by contributions of the upper limb. We found that the lower extremity movement was controlled by lateral movement in the trunk as a result of no usage of the upper extremity, resulting in the relatively greater trunk rotation in WOU.

• 한국운동역학회지
• /
• 제21권4호
• /
• pp.411-420
• /
• 2011

The purpose of this investigation was to determine whether correlations exist between balance and impact velocity, angular position, and maximum velocity of a club during drive swing. Twelve skilled golfers were recruited in this study. They were asked to perform ten swing trials and two trials were selected for analysis. Balance parameters were calculated via the force platform while kinematic variables were determined by using the Qualisys system. The results of the present study demonstrated that the average of COP velocity was faster in the medio-lateral direction rather than the anterio-posterior direction. Also, left foot's COP velocity and free torque were greater than the right foot's before impact. The range of the right foot's COP in the anterio-posterior direction before impact were correlated with the club velocity and angular position at impact. There was a negative correlation between the left foot's COP velocity before the impact and the velocity at impact. Additionally, the range and RMS of the left foot's free torque affected on the club angular position at impact and the maximum velocity at release, respectively. Finally, a negative correlation existed between the range of the right foot's free torque after the impact and club's maximum velocity at release.

• 대한의용생체공학회:의공학회지
• /
• 제35권3호
• /
• pp.35-41
• /
• 2014

In this study, joint angles of the lower extremity and inertial sensor data such as accelerations and angular velocities were measured during a ski simulator exercise in order to evaluate the skill of skiers. Twenty experts and twenty unskilled skiers were recruited for the study. All expert skiers held the certificates issued by the Korea Ski Instructors Association. A three-dimensional motion capture system and two inertial sensors were used to acquire joint movements, heel acceleration and heel angular velocity during ski simulator exercises. Pattern variation values were calculated to assess the variations in ski simulator motion of expert and unskilled skiers. Integral ratio of roll angular velocity was calculated to determine the parallel alignment of the two feet. Results showed that ski experts showed greater range of motion of joint angle, peak-to-peak amplitude(PPA) of heel acceleration and PPA of heel angular velocity than unskilled skiers. Ski experts showed smaller pattern variations than unskilled skiers. In addition, the integral ratio of roll angular velocity in ski experts was closer to 1. Inertial sensor data measurements during the ski simulator exercises could be useful to evaluate the skill of the skier.

• 제어로봇시스템학회논문지
• /
• 제17권10호
• /
• pp.1021-1028
• /
• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• 대한기계학회논문집A
• /
• 제20권7호
• /
• pp.2205-2212
• /
• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• 대한의용생체공학회:의공학회지
• /
• 제21권3호
• /
• pp.303-309
• /
• 2000

본 연구에서는 중추신경계 질환에 의해 발생하는 경직을 정밀하고 정량적으로 평가하기 위하여 생체역학적 측면에서 실험 및 분석을 수행하였다. 객관적인 실험환경을 만족시키기 위해 기존에 검사자가 손으로 수행하던 방식을 개발된 진자실험 장치를 통하여 동일한 방법과 높이가 재현될 수 있도록 하였다. 하지의 진자 운동에서 발생되는 운동 형상학적 데이터들은 3차원 동작 분석장비(Elite. B.T.S. Italy)를 사용하여 측정하였으며, 경직과 관련된 하지의 각도, 각속도 변수에 대한 분석이 수행되었다. 진자 운동시 하지의 운동형상학적 데이터, 근육들의 길이변화와 변화 속도, 동적 근전도신호 등을 동시에 고려할 수 있는 프로그램을 제작하였다. 또한 기존의 분석보다 다양한 각도에서 경직의 정량적 평가가 가능하도록 14개의 새로운 변수를 도출하여 정량적 평가를 위한 총 26개의 변수에 대한 상호 상관성을 검토하였다. 새롭게 제시된 검사방식과 새로운 변수를 통하여 정밀하고 객관적인 경직 판정의 가능성을 제시하였다.