• 로봇학회논문지
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• 제13권1호
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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.

• 로봇학회논문지
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• 제9권1호
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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.

• 대한치과보철학회지
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• 제45권3호
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• pp.345-353
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• 2007

Statement of problem. Implant abutment screw joints tend to loosen under clinical conditions. Abutment screw loosening results in loss of preload in function. Purpose. Anti-rotational inner post screw (ARIPS) systems were compared with conventional abutment screws to reduce screw loosening. Reverse torque values were evaluated. Material and methods. 32 implant assemblies (Warentec, Co, Ltd, Seoul, Korea) were organized as the 30-Ncm-torque conventional groups and 30-Ncm-torque ARIPS groups in external and internal system. The specimens were tested to 106 cycles at a load of 200N. Preload reverse torque, postload reverse torque, and the ratio of postload reverse torque to preload reverse torque were evaluated. The data were analyzed with unpaired t-test in external and internal systems. Results. In the ratio of postload reverse torque to preload reverse torque, the ARIPS groups showed significant differences than the conventional screw group in both external and internal system. Conclusion. Within the limitations of this study, abutment screw loosening was effectively reduced using ARIPS system.

• 구강회복응용과학지
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• 제18권2호
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• pp.81-91
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• 2002

Dental implant systems have shown many post-surgical problems and One of the most frequent problem is screw loosening. To reduce screw loosening, a number of methods have been tried and recently fundamental modification of fixture-abutment connection structure was developed and used the most frequently. Former implant system structure, such as Br${\aa}$nemark, had external hex with the height of 0.7 mm and later, fixture with external hex of 1.0 mm height and internal hex structure were developed. In addition, the method of morse taper application was introduced to reduce screw loosening. In this study, the level of screw loosening of each implant systems was compared based on the vibration loosening measurement of abutment screw of each implant systems. Analysis of measured value was performed using 3 kinds of methods, (i) Percentage of average of initial 3 times loosening-torque value(initial loosening value) to tightening-torque of 30 Ncm, (ii) Percentage of loosening-torque value after 200 N strength loaded(experimental value) to initial loosening value and (iii) Percentage of experimental value to 30 Ncm of tightening-torque. Each result of analyses shows the value of initial loosening, loosening by repetitive load and final loosening level. The results of this study were as follows. (1) Percentage of initial loosening value to tightening-torque was increased in order of 0.7 mm external hex, 1.0 mm external hex, internal hex and internal taper and all values between each groups showed statistical significance (p<0.05). (2) Percentage of experimental value to initial loosening value was increased in order of internal hex, 0.7 mm external hex, 1.0 mm external hex and internal taper. Value of internal taper showed significant difference with that of 0.7 mm external hex and internal hex (p<0.05). (3) Percentage of experimental value to tightening torque was increased in order of 0.7 mm external hex, 1.0 mm external hex, internal hex and internal taper. Values of all groups showed statistical significance (p<0.05) except between the groups of 1.0 mm external hex and internal hex. Based on those results, there was no significant difference of loosening-torque by repetitive loading except internal taper. It is supposed that implant system with high resistant capability against initial loosening could be recommended for clinical use. In addition, in case of single implant restoration, 1.0 mm external hex or internal hex could be recommended rather than 0.7 mm external hex, and the use of internal taper would be the most useful way to reduce screw loosening.

• The Journal of Advanced Prosthodontics
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• 제7권4호
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• pp.288-293
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• 2015

PURPOSE. The aim of this study was to evaluate the effect of cyclic loading and screw retightening on reverse torque value (RTV) in external and internal type implants. MATERIALS AND METHODS. Cement-retained abutments were connected with 30 Ncm torque to external and internal type implants. Experimental groups were classified according to implant connection type and retightening/loading protocol. In groups with no retightening, RTV was evaluated after cyclic loading for 100,000 cycles. In groups with retightening, RTV was measured after 3, 10, 100 cycles as well as every 20,000 cycles until 100,000 cycles of loading. RESULTS. Every group showed decreased RTV after cyclic loading. Before and after cyclic loading, external type implants had significantly higher RTVs than internal type implants. In external type implants, retightening did not affect the decrease in RTV. In contrast, retightening 5 times and retightening after 10 cycles of dynamic loading was effective for maintaining RTV in internal type implants. CONCLUSION. Retightening of screws is more effective in internal type implants than external type implants. Retightening of screws is recommended in the early stage of functional loading.

• 대한치과보철학회지
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• 제43권5호
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• pp.671-683
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• 2005

Statement of problem: The most commonly reported problem associated with dental implant restoration is the loosening of the screws. Purpose: This study compared the efficacy of an implant system incorporating an anti-rotational locking sleeve(Anti-Rotating Inner Post Screw System(ARIPS-system)) with other, traditional implant systems as a means of minimizing vibration loosening. Materials and methods: Three implant systems were examined; the conventional external hex type, the ARIPS-system, and the internal taper type implant system 30 specimens(10 samples per group)were fabricated and each abutment screw was secured to the implant future with 32Ncm of torque force and loosening torque was measured using a Torque Gauge. The procedure was repeated 3 times, recording initial loosening torque each time. The re-tightened abutment screw was subjected to a cyclic load having a maximum forte of 200N and minimum of 20N at 2Hz over a period of 12,600 cycles. after which the loosening torque was measured. Measured values were calaulated for statistical analysis. Analysis of measured value was performed by 3 methods: (i) as a percentage average of the initial 3 loosening-torque values(initial loosening value) to the tightening torque of 32Ncm, (ii) as a percentage of the loosening torque value after a load of 200N(experimental value) to the initial loosening value, and (iii) as a percentage of the experimental value to the 32Ncm of tightening torque. The analyses shows the amount of initial loosening at the screw, loosening by repetitive load and the the final loosening value. Results: The results of this study were as follows (1) Percentage of initial loosening value to tightening-torque was increased in order of external hex, ARIPS-system and internal taper and all values between each groups showed statistical significance (p<0.05). (2) Percentage of experimental value to initial loosening value was increased in order of external hex, ARIPS-system and internal taper. Value of internal taper showed significant difference with those of external hex and ARIPS-system (p<0.05). (3) Percentage of experimental value to tightening torque was increased in order of external hex, ARIPS-system and internal taper and all values between each groups showed statistical significance (p<0.05). Conclusion: The results of the analysis of the final loosening level value, which are closely correlated to clinical use, show that the ARIPS-system can be a useful means of minimizing abutment screw loosening when compared to the external hex type system. Although further clinical studies need to be made, the ARIPS-system should be considered to maximize the long-term success of the implant prosthesis.

• The Journal of Advanced Prosthodontics
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• 제9권4호
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• pp.271-277
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• 2017

PURPOSE. This in vitro study aimed to evaluate the effect of implant connection design (external vs. internal) on the fit discrepancy and torque loss of zirconia and titanium abutments. MATERIALS AND METHODS. Two regular platform dental implants, one with external connection ($Br{\aa}nemark$, Nobel Biocare AB) and the other with internal connection (Noble Replace, Nobel Biocare AB), were selected. Seven titanium and seven customized zirconia abutments were used for each connection design. Measurements of geometry, marginal discrepancy, and rotational freedom were done using video measuring machine. To measure the torque loss, each abutment was torqued to 35 Ncm and then opened by means of a digital torque wrench. Data were analyzed with two-way ANOVA and t-test at ${\alpha}=0.05$ of significance. RESULTS. There were significant differences in the geometrical measurements and rotational freedom between abutments of two connection groups (P<.001). Also, the results showed significant differences between titanium abutments of internal and external connection implants in terms of rotational freedom (P<.001). Not only customized internal abutments but also customized external abutments did not have the exact geometry of prefabricated abutments (P<.001). However, neither connection type (P=.15) nor abutment material (P=.38) affected torque loss. CONCLUSION. Abutments with internal connection showed less rotational freedom. However, better marginal fit was observed in externally connected abutments. Also, customized abutments with either connection could not duplicate the exact geometry of their corresponding prefabricated abutment. However, neither abutment connection nor material affected torque loss values.

• 한국생산제조학회지
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• 제24권1호
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• pp.110-116
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• 2015

This study investigates the whirling stability of a rotating shaft-disk system under parametric excitation using periodically varying torque. The equations of motion were derived using a lumped-mass model, and the Floquet method was employed to find the effects of torque fluctuation, internal and external damping, and rotational speed on whirling stability. Results indicated that the effect of torque fluctuation was considerable on the instability around resonance, but minimal on supercritical instability. Stability diagrams were sensitive to the parametric excitation frequency; critical torque decreased upon increasing excitation frequency, with faster response convergence or divergence. In addition, internal and external damping had a considerable effect on unstable regions, and reduced the effects of the parametric excitation frequency on critical torque and speed. Results obtained from the Floquet approach were in good agreement with those obtained by numerical integration, except for some cases with Floquet multipliers very close to unity.

• 한국운동역학회지
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• 제26권3호
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• pp.257-264
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• 2016

Objective: The purpose of this study was to determine the periodicity of shank-foot segment coupling and free torque before and after fatigue induced by prolonged running. Method: Fifteen young healthy male participants with a rear-foot strike ran on instrumented dual-belt treadmills at 70% of their maximum oxygen uptake for 65 min. Kinematic and ground reaction force data were collected for 20 continuous strides at 5 and 65 min (considered the fatigued condition). The approximate entropy tool was applied to assess the periodicity of the shank internal-external rotation, foot inversion-eversion, shank-foot segment coupling, and free torque for the two running conditions. Results: The periodicity of all studied parameters, except foot inversion-eversion, decreased after 65 min of running (fatigued condition) for 80% of the participants in this study. Furthermore, 60% of the participants showed similarities in the change of periodicity pattern in shank internal-external rotation, coupling, and free torque. Conclusion: The findings indicated that the foot inversion-eversion motion may pose a higher risk of injury than the shank internal-external rotation, coupling, and free torque in the fatigued condition during prolonged running.

• The Journal of Advanced Prosthodontics
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• 제6권2호
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• pp.126-132
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• 2014

PURPOSE. This study was conducted to evaluate the influence of the implant-abutment connection design and diameter on the screw joint stability. MATERIALS AND METHODS. Regular and wide-diameter implant systems with three different joint connection designs: an external butt joint, a one-stage internal cone, and a two-stage internal cone were divided into seven groups (n=5, in each group). The initial removal torque values of the abutment screw were measured with a digital torque gauge. The postload removal torque values were measured after 100,000 cycles of a 150 N and a 10 Hz cyclic load had been applied. Subsequently, the rates of the initial and postload removal torque losses were calculated to evaluate the effect of the joint connection design and diameter on the screw joint stability. Each group was compared using Kruskal-Wallis test and Mann-Whitney U test as post-hoc test (${\alpha}$=0.05). RESULTS. The postload removal torque value was high in the following order with regard to magnitude: two-stage internal cone, one-stage internal cone, and external butt joint systems. In the regular-diameter group, the external butt joint and one-stage internal cone systems showed lower postload removal torque loss rates than the two-stage internal cone system. In the wide-diameter group, the external butt joint system showed a lower loss rate than the one-stage internal cone and two-stage internal cone systems. In the two-stage internal cone system, the wide-diameter group showed a significantly lower loss rate than the regular-diameter group (P<.05). CONCLUSION. The results of this study showed that the external butt joint was more advantageous than the internal cone in terms of the postload removal torque loss. For the difference in the implant diameter, a wide diameter was more advantageous in terms of the torque loss rate.