• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.9
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• pp.3834-3842
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• 2011

The purpose of this study is to analyze the kinematic characteristics of children with Down syndrome got congenitally joint laxity and muscle hypotonic. The subjects are boys with Down syndrome and don't have the other disabilities. We got three dimensional position data and then calculated spatiotemporal and kinematic variables during walking on treadmill used increasingly for gait analysis and training. In result, in order to overcome their gait instability due to their musculoskeletal characteristics they walked with hip, knee and ankle joints more flexed than the typical gait pattern, and on the propulsion phase they extend the lower limb joints less than the typical, result in propel the body less than. The reason is that the more is the propulsion by extending the joints, the greater is the reaction force from the ground on heel contact. This result is expected to be used to develop the training program for intensification of musculoskeletal system aim to improve the other musculoskeletal disabilities as well as Down syndrome.

• Journal of the Semiconductor & Display Technology
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• v.22 no.4
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• pp.113-118
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• 2023

Maintenance of semiconductor equipment processes is crucial for the continuous growth of the semiconductor market. The process must always be upheld in optimal condition to ensure a smooth supply of numerous parts. Additionally, it is imperative to monitor the status of the robots that play a central role in the process. Just as many senses of organs judge a person's body condition, robots also have numerous sensors that play a role, and like human joints, they can detect the condition first in the joints, which are the driving parts of the robot. Therefore, a normal state test bed and an abnormal state test bed using an aging reducer were constructed by simulating the joint, which is the driving part of the robot. Various sensors such as vibration, torque, encoder, and temperature were attached to accurately diagnose the robot's failure, and the test bed was built with an integrated system to collect and control data simultaneously in real-time. After configuring the user screen and building a database based on the collected data, the characteristic values of normal and abnormal data were analyzed, and machine learning was performed using the KNN (K-Nearest Neighbors) machine learning algorithm. This approach yielded an impressive 94% accuracy in failure diagnosis, underscoring the reliability of both the test bed and the data it produced.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.554-561
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• 1998

Vehicle body structures are formed by thousands of spot welds and fatigue failure of vehicle structures occur near the spot welds after driving a long way at a durability test road. It is necessary to know accurately the reason of the fatigue failure of the spot weld in the developing stage in order to reinforce it. Many investigations have been done regarding the strength of spot welded joints, contributing to understand its fatigue strength. In developing process, a fatigue failed spot welded area can be repaired by $CO_2$ welding or another method to continue the test. To know the effect of reinforcing these welds, several methods of welding were analyzed and compared to spot welding. With the results of this test, the appropriate repair method can be used instead of spot welding during the development of new car and best design guide can be given for the strength. In this study, fatigue and static tensile tests are made and microstructure is investigated for the purpose of estimating the strength of welded joints by using spot welded and $CO_2$ plug welded specimens. The tested specimens are of two types : Tensile-shear type(TS) and L-tension type(LT).

• Laser Solutions
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• v.13 no.4
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• pp.14-20
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• 2010

Robot path generation and laser welding technology for manufacturing automotive body are studied. Laser welding and industrial robot systems are used with the robot based laser welding system. The laser system used in this study is 1.6kW Fiber laser, while the robot system is 6 axes Industrial robot (payload: 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. The welding joints of steel plate are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. The 3 dimensional laser welding for non-linear pipe welding line is performed. This paper introduces the robot based laser welding system to resolve the limited welding speed and accuracy of the conventional spot welding system.

• Journal of the Korean Society of Safety
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• v.30 no.3
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• pp.1-6
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• 2015

Self-piercing riveting (SPR) is receiving more recognition as a possible and effective solution for joining automotive body panels and structures, particularly for aluminum parts and dissimilar parts. In this study, static strength and fatigue tests were conducted using coach-peel and cross-tension specimens with Al-5052 plates for evaluation of fatigue strength of the SPR joints. For the static experiment results, the fracture modes are classified into pull-out fracture due to influence of plastic deformation of joining area. During the fatigue tests for the coach-peel and cross-tension specimens with Al-5052, interface failure mode occurred on the top substrate close to the rivet head in the most cycle region. There were relationship between applied load amplitude $P_{amp}$ and life time of cycle N, $P_{amp}=715.5{\times}N^{-0.166}$ and $P_{amp}=1967.3{\times}N^{-0.162}$ were for the coach-peel and cross- tension specimens, respectively. The finite element analysis results for specimens were adopted for the parameters of fatigue lifetime prediction. The relation between SWT fatigue parameter and number of cycles was found to be $SWT=192.8N_f^{-0.44}$.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.124-131
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• 2017

This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.1
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• pp.30-33
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• 2008

Understanding the characteristics of amputee gait is key in developing more advanced prostheses. The aim of this study was to quantitatively analyze a stair-climbing task for transfemoral amputees with a prosthesis and to predict the muscle forces and joint moments at musculoskeletal joints using a dynamic analysis. A three-dimensional musculoskeletal model of the lower extremities was constructed from a gait analysis using transformation software for two transfemoral amputees and ten healthy people. The measured ground reaction forces and kinematical data of each joint from the gait analysis were used as input data for an inverse dynamic analysis. Dynamic analyses of an transfemoral amputee climbing stairs were performed using musculoskeletal models. The results showed that the summed muscle forces of the hip extensor of an amputated leg were greater than those of a sound leg. The opposite was true at the hip abductor and knee flexor of an amputated leg. We also found that higher moments at the hip and knee joints of the sound leg were required to overcome the flexion moment caused by the body weight and amputated leg. Dynamic analyses using musculoskeletal models may be a useful means to predict muscle forces and joint moments for specific motion tasks related to rehabilitation therapy.

• The Journal of Internal Korean Medicine
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• v.27 no.4
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• pp.975-983
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• 2006

Degenerative arthritis is characterized by progressive degenerative change, particularly change occurring to the joint due to the burden of body weight. Arthritis means inflammation occurring to the joint: it causes pain and limits exercise involving movement of the joint. Edema is not a disease but a condition which is accompanied by progression of a certain disease. Degenerative arthritis patients also have various diseases and mostly brings edema. Even though the cause is known to be abrasion of the joints, there are many cases in which walking difficulties are caused by pressure and pain due to edema. We found patients with walking difficulties caused by pain and increase of pressure in the joints walk better after treatment of both the pain and edema.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1330-1341
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• 1993

The kinematic synthesis deals with the systematic design of mechanisms for a given performance. The area of synthesis may be grouped into two categories to determine the type and to size the dimensions of a mechanism for a specified task. In this paper, using a database of mechanisms a designer can determine the type of mechanism conveniently and design equations are automatically generated for a given input performance. The solving method of design equations utilizes an optimization routine to obtain roots effectively. The linkages of 4, 6, and 8bars with revolute joints are considered in this study but may be extended to linkages of more bars.

• Laser Solutions
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• v.11 no.4
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• pp.21-28
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• 2008

Remote Laser welding technology for manufacturing automotive body is studied. Laser welding and industrial robot systems are used for the robot based laser welding system. The laser system is used 1.6kW Fiber laser(YLR-1600) of IPG. The robot system is used HX130-02 of Hyundai Heavy Industry(payload : 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. During past three years the laser system, 4kW Nd:YAG laser (HL4006D) of Trumpf was used and the robot system, IRB6400R of ABB (payload:120kg) was used. The new laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. This paper introduces the robot based remote laser welding system to resolve the limited welding speed and accuracy of the conventional laser welding system.