• The Journal of Korean Physical Therapy
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• v.12 no.2
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• pp.95-105
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• 2000

Glenohumeral internal and external rotation with shoulder abducted in the frontal plane often causes impingement of the supraspinatus tendon. whereas similar activity in scapular plane does not cause impingement. The Purpose of this study was to determine if assessment among the three positions as 30 degrees, 60 degrees, 90 degrees abduction in the sitting position of the scapular plane could be affected the comparison between intemal and external peak torque, total work, average power. In this study, Isokinetic shoulder rotational strength was evaluated in twenty healthy male university students, using the Cybex NORMTM System (CYBEX Division of LUMEX, Inc., Ronkonkoma, New York). Test data was gathered in the plane of the scapular, 30 degrees of horizontal flexion anterior to coronal plane, and the subjects performed the test with the arm 30, 60, and 90degrees abducted in the sitting position. also, test speed was set at deg/sec. Statistical analysis was performed using SPSS 7.5 for Windows software and mean and standard deviations were calculated. ANOVA was used to analyze the difference of the values in the three test positions. A paired t-test was used of examining the difference in the means peak torque between external and internal rotation. Not any significant difference was found among three abduction positions in scapular plane, even though there was a consistent pattern of greater strength in the abducted position of 60 degrees. Internal relation strength peak torque and total work were greater than those of external rotation in every test positions.

• Journal of Korean Orthopaedic Sports Medicine
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• v.2 no.1
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• pp.62-70
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• 2003

Purpose: We examined the kinematics and kinetics of the shoulder in youth baseball pitchers in light of the mechanisms of development of little league shoulder and humeral retrotorsion. Materials and Methods: The joint kinematics and the net force and torque acting on the humerus were calculated in fourteen youth pitchers throwing in a simulated game. Results: The major force component acting on the humerus was a tensile force of 378$\pm$81 N that peaked just after ball release. The predominant torque on the humerus was an external rotation torque about the long axis of the humerus. This torque reached a peak value of 35.3$\pm$6.7 Nm about 73$\%$through the pitching motion. This torque is approximately 66$\%$ of the torque required to fracture of the adult humerus. Conclusions: The direction of the humeral torque was consistent with the development of increased humeral retrotorsion in the throwing arm. Shear stress arising from the high torque during the late cocking phase likely leads to deformation the relatively weak proximal humeral epiphysis. The external rotation torque applied to the humerus during the pitch also agrees with the proposed mechanism for development little league shoulder, which has been hypothesized to be due to rotational stresses acting on the epiphysis during the throwing motion.

• Journal of Drive and Control
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• v.17 no.1
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• pp.51-60
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• 2020

This study addresses the modeling of a bi-directional outlet variable swash plate type axial piston pump with two EPPR valves and an analysis of the response characteristics to the angle control of that pump. In this paper, the combination of the EPPR valve and double rod type piston is referred to as the EPPR regulator. The EPPR regulator is compact and inexpensive, and has good responsiveness. Under actual pump operating conditions, because of the various external conditions of the pump, inertia is applied to the swash plate, generating the tilting torque. Also, the tilting torque can delay or shorten the response characteristics of the regulator. So we validated them through the analysis using SimulationX and these results allow users to freely integrate the EPPR regulator into the desired system.

• The Journal of Korean Physical Therapy
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• v.11 no.1
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• pp.111-119
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• 1999

The object of study who healthufl thirty persons have been enforced Isokinetic exercise of non-dominant muscular strength. The next same that each dominant muscular strength and non-dominant strength, peak torque and total work have been comparative analysis 1, Shoulder muscles comparion increase peak torque at low speed from pretraining Isokinetic exercise of non-dominant strength side to ten week of post-training.. Flexor and extensor come out high and statistically significant 6, 8, 10 week than pretraining. Adductor and abductor come out high and statistically significant 4, 6, 8. 10 week then pre-training, Internal rotator and external rotator come out statistically significant 2, 4, 6, 8, 10 week then pre-ttraining. 2. Shoulder muscles comparion increase peak torque at high speed from pre-training Isokinetic execise of non-dominant strenght side to ten week of post-training. Flexor and extensor come out high and statistically significant 4, 6, 8, 10 week then pie-training. Adductor and abductor come out high and statistically significant 2, 4, 6, 8, 10 week than pre-training. Futernal rotator and external rotator come out statistically significant 4. 6, 8, 10 week than pre-training.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.1
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• pp.52-60
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• 2018

The winding of the motor stator coil is broken due to external stress and various factors. If the proper current is not injected when interturn fault(ITF) occurs, the fault can easily be expanded and the motor can be finally destroyed, resulting in many problems with time costs and safety. In this paper, the power loss limit concept, which is the inherent durability of each motor, is applied to secure safety by controlling the total power loss of the motor within the limits. So, we propose an algorithm that can control maximum torque per minimum power loss based on constant torque curve and power loss limit. To verify the proposed method, the simulation and experimental results with an Interior permanent magnet synchronous motor(IPMSM) having an ITF are shown.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.77-89
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• 2020

This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.139-145
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• 1996

Tapping is one of the most widely used machining operations. There are several methodes of producing external screw threads, e.g. turning, milling with single or multiple cutter, rolling, and grinding, but the methods available for cutting enternal threads are less numerous, and for threads in small holes, tapping is employed almost exclusively. In this study, the tap with the various geometry has been developed in order to tap special workmaterial at considerably higher cutting speed than that of the conventional HSS tap. The experimental tests are run with various cutting speed by using a piezo type tool dynamometer to measure tapping torque. Tapping torque is affected by the design of the tap, which seems to be due to internal friction and shearing of the metal. It is clarified that the process of chip formation strongly depends on rake angle, relief angle, angle of twist.

• International Journal of Aeronautical and Space Sciences
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• v.3 no.2
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• pp.13-23
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• 2002

In this paper, we present a sliding mode control strategy for the re-orientation maneuver of rigid spacecraft containing rotating wheels. The wheels are considered as internal devices, and external inputs are employed for generation of control commands. The formulation is developed for a general case while particular example is applied to pitch bias momentum spacecraft with a single momentum wheel. The resultant control commands are used to take the gyroscopic effects into account which are caused by the rotating wheels. The controller designed demonstrates that the nutational motion of the pitch bias momentum spacecraft is effectively controlled. It is also assumed that the external control torque device is of on-off nature, and pulse width modulation technique is applied to construct proper control torque history.