• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1029-1037
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• 2008

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• Physical Therapy Korea
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• v.18 no.2
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• pp.1-8
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• 2011

The purpose of this study was to investigate the effect of high heeled shoes with the total contact insert (TCI) on the frontal plane of the joints for the lower extremity during the gait. Ten healthy females voluntarily participated in this study and the height of the high heeled shoes was 7 cm. A three-dimensional motion analysis system (VICON) and force plates were used to analyze the movements of the joints for the lower extremities. The results were as follows: There were no significant differences for the angle value on the event of the gait cycle in the maximum eversion and inversion of the ankle joint, the varus and valgus of the knee joint, and the adduction and abduction of the hip joint (p>.05). But, there was a significant difference or the range of motion in the ankle joint (p<.05). The value of ankle and knee moment with a TCI was less than the value for no TCI. And there were significant differences for the moment value of the maximum inversion and eversion on the ankle joint and for the maximum varus and valgus on the knee joint (p<.05). Therefore, a TCI would be effective in stabilizing the joints of the lower extremities and increasing the balance of a body to reduce the injure from a fall during the gait.

• Journal of Welding and Joining
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• v.28 no.1
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• pp.77-85
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• 2010

Stainless steel sheets are widely used as the structure material for the railroad cars and the commercial vehicles. These kinds structures used stainless steel sheets are commonly fabricated by using the gas welding. Gas welding is very important and useful technology in fabrication of a railroad car and vehicles structure.However fatigue strength of the gas welded joints is considerably lower than parent metal due to stress concentration at the weld, fatigue strength evaluation of gas welded joints are very important to evaluate the reliability and durability of railroad cars and to establish a criterion of long life fatigue design. In this paper, $({\Delta}{\sigma}_a)_R-N_f$ curve were obtained by fatigue tests. Using these results, the accelerated life test(ALT) was conducted. From the experimental results, an acceleration model was derived and acceleration factors are estimated. So it is intended to obtain the useful information for the fatigue lifetime of plug and ring gas welded joints and data analysis by statistic reliability method, to save time and cost, and to develop optimum accelerated life prediction plans.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.3
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• pp.353-361
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• 1989

A parametric study of load distribution in bolt-nut joints is performed by the method of finite element contact analysis. The contacting surface is assumed unbonded and frictionless. Multi-body contact analysis is performed in elastic region under the assumption of axi-symmetric stress state. Load acting on the first thread from the fastened plate is much greater than that on the other threads in the standard setting. But the load distribution is shown to be improved by making the center of contact force acting on the nut surface move outwards. Such a modification is possible by enlarging the gap between bolt shank and fastened plate or by inserting suitable washers. Shape modification of the standard nut by the making a groove and a step on the nut surface is also suggested, which results in almost uniform load distribution and considerable decrease in the maximum stress of the joint.

• Proceedings of the ESK Conference
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• 1998.04a
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• pp.31-35
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• 1998

Many reaearchers have reproted that poor body postures are associated with pains or symptoms of musculoskeletal dissoders. Therefore, the ergonomic evaluation of postural stresses as well as biomechanical stresses is important when a job such as automobile assembly tasks involves highly repetitive and/or prolonged poor body postures. A macropostural classification shema was developed to characterise various body postures occurring in automobile assembly tasks in the study. To specify a postural code and stress level to each body posture, perceived joint discomforts were subjectively evaluated in the lab experiments for the full range of motion in five human body joints. Based on the reaults, a postural classification scheme was developed where the full range of motion in each body joint was classified into several codes repressenting different stress levels. The automobile tasks were clustered into 12 types based on the result walk-in-surveillance and the possible posture codes for each task type are defined. I was exposed that the poor postural problems in automobile assembly tasks were concerned in most part with arms, trunk and neck. Application of te developed schema to seven operations in automobile assembly tasks showed that the schema can be used as a tool to identify the operations and tasks involving highly stressful body postures. The schema can also be utilised as a basis to prioritise the candidate assembly operations for redesign of work methods.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.4
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• pp.2203-2211
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• 2020

Background: Backpacks are one of the most widely used accessories in modern society. However, previous studies have shown that carrying a backpack can cause various musculoskeletal problems. Objectives: To investigate the effects of a body-adhesive backpack on craniovertebral angle, sagittal shoulder angle and the muscle fatigue in the upper extremity. Design: Randomized cross-over design. Methods: For this study, 36 healthy university students participated in this study. The experiment was conducted three times using common backpack, and body-adhesive backpack condition. The angles of the cervical spine and shoulder joints of the subjects were calculated without the backpack. Electrodes were placed at upper trapezius, lower trapezius, rectus abdominis and erector spinae to check for muscle fatigue. Subjects carried a backpack and walked on a treadmill for 15 minutes at 4 km/h. The muscle fatigue signal was also measured while walking. After walking, the craniovertebral and sagittal shoulder angles were measured again while subjects carried backpack. Results: As a result of this study, body-adhesive backpack condition showed significant decrease and significant increase in craniovertebral angle and sagittal shoulder angle than common backpack (P<.05). Body-adhesive backpack condition showed significant decrease in upper trapezius, lower trapezius, erector spinae, and rectus abdominis when compared to a common backpack (P<.05). Conclusion: This study suggests that a body-adhesive backpack is more beneficial in correcting body posture than a common backpack.

• Journal of the Korean Society of Costume
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• v.56 no.7 s.107
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• pp.126-141
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• 2006

Clothes and human body are inseparably related. Aesthetic consciousness of the body determines the form of clothing, reflecting the time and culture as well as the individual and society. Clothes can even reorganize the meaning of the body, while transcending their instrumental functions of protecting, expanding and deforming the body. Using 'body' to analyze the clothing farm, my study develops a framework by which to classify the representation of the body in fashion focusing on the representation of physicality. In order to inquire the formative style and aesthetic values expressed in representing body in fashion, my study examines subjects from the 14th century European costumes to fashion collections of the 20th century. In fashion, representation of the body is visually analogous to the ideal body shape and structure, including a realistic presentation of the body as well as reflection of aesthetic ideals. Representation of physicality refers to structural designs and elastic fabrication. Structural designs appeared in tailoring and bias-cut draping, as well as in stretchy clothes such as Lycra body suit and knit garments that highlights the body structure and movements of the body joints. In representing physicality in fashion, clothing forms reflect body silhouette and each body parts. Therefore, the shape of clothes (signifiant) corresponds to the anatomy and movement of the body ($signifi\'{e}$) in pursuit of aptness. Aesthetic ideal of the body is visualized in the form of a dress. Some clothes prioritize the body, particularly the feminine bodily curves, while others focus on the clothing itself as abstract and sculptural forms. Fashion continues to explore forms and images that transcend the traditional representations of the clothed body. As a type of intimate architecture, fashion always mediates the dialogue between clothes and body, or fashion and figure. My study suggests a framework to analyze bodily representation in fashion, focusing on the relationship between the clothes and body.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.559-562
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• 2005

When we analyze dynamics of a multi body system, a compliance of joints must be considered. If the virtual model for CAE(computer adied engineering) analysis is not considered compliance, the result of CAE analysis will be very different from the actual result. Especially in a biped walking robot, a compliance can be caused in joints of a walking robot, and the robot may lose walking stability. This paper proposes a compliance modeling method and the effectiveness of the compliance model is verified through experiments.

• Journal of Mechanical Science and Technology
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• v.15 no.7
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• pp.982-994
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• 2001

Commercially available software packages permit to position human models of various geometries in practical scenarios while respecting the anatomical constraints of the skeletal joints and of the bulk of the bodies. Beyond such features, the PAM-Comfort(sup)TM software has been conceived to provide direct access to the muscular forces needed by humans to perform physical actions where muscle force is required. The PAM-Comfort(sup)TM human models are made of multi-body linked anatomical skeletons, equipped with finite elements of the relevant skeletal muscles. The hyper-static problem of determination of muscle forces is solved by optimisation technique. Voluntary stiffening of muscles can be added to the basic contraction levels needed to perform a specific task. The calculated muscle forces obey Hills model. The model and software have been applied in several interesting scenarios of various fields of application, such as car industry, handling of equipment and sports activities.