• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• 한국운동역학회지
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• 제28권2호
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• pp.143-149
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• 2018

Objective: This study aimed to investigate the influence of landing foot orientations on biomechanics of knee joint in order to identify vulnerable positions to non-contact knee injuries during single-legged landing. Method: Seventeen men (age: $20.5{\pm}1.1 years$, height: $175.2{\pm}6.4cm$, weight: $68.8{\pm}5.8kg$) performed single-leg drop landings repeatedly with three different landing foot orientations. They were defined as toe-in (TI) $30^{\circ}$ adduction, neutral (N, neutral), and toe-out (TO) $30^{\circ}$ abduction positions. Results: The downward phase time of TI was significantly shorter than those of N and TO. The flexion and valgus angle of N was greater than those of TI and TO at the moment of foot contact. At the instance of maximum knee flexion, N showed the largest flexion angle, and TO position had the largest varus and external rotation angles. Regarding ground reaction force (GRF) at the moment of foot contact, TO showed the forward GRF, while others showed the backward GRF. TI indicated significantly larger mediolateral GRF than others. As for the maximum knee joint force and joint moment, the main effect of different foot positions was not significant. Conclusion: TI and TO might be vulnerable positions to knee injuries because both conditions might induce combined loadings to knee joint. TI had the highest mediolateral GRF with a shortest foot contact time, and TO had induced a large external rotation angle during downward phase and the peak forward GRF at the moment of foot contact. Conclusively, N is the preferred landing foot orientation to prevent non-contact knee injuries.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.323-331
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• 1997

A new probing mechanism and an active compliance control algorithm have been developed for the in-circuit test of a PCB( printed circuit board ). Commercially available robotic probing devices are incapable of controlling contact force generated through rigid probe contacts with a solder joint, at high speed. The uncontrollable excessive contact force often brungs about some defects on the surface of the solder joint, which is plastically deformable over some limited contact force. This force also makes unstable contact motions resulting in unreliable test data. To overcome these problems, we propose that a serially connected macro and micro device with active compliance provide the best potential for a safe and reliable in-circuit test. This paper describes the design characteristics, modeling and control scheme of the newly proposed device. The experimental results clearly show the effectiveness of the proposed system.

• 대한족부족관절학회지
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• 제27권1호
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• pp.17-23
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• 2023

Purpose: Toe-in gait is defined as a style of walking in which the foot turns inward. It may be caused by an increase in femoral bone anteversion, tibia torsion, and metatarsus adductus. There are some conservative treatment approaches used to correct this condition. This review aimed to determine the effects of the toe-in gait on joint loading, kinematics, and kinetic parameters while walking. Moreover, it sought to determine the efficiency of various conservative treatments used to correct the condition. Materials and Methods: A literature search was conducted in the following databases: PubMed, Institute for Scientific Information (ISI), Web of Science database, EBSCO, and Embase, using the following keywords in toe, toe-in, toeing, in-toe, pigeon toe, and conservative treatment published between 1950 and 2021. The quality of the studies was evaluated using the Down and Black tool. Results: A total of 13 papers on the impact of toe-in gait on joint contact force, kinematics, kinetic parameters, and conservative approaches to management were found. The quality of the studies varied between a score of 11 and 22. The toe-in gait influences the joint contact forces and kinematics of the joints, especially the hip and pelvis. The effects of conservative treatment on the toe-in gait appear to be controversial. Conclusion: As the toe-in gait influences the joint contact force, it may increase the incidence of degenerative joint diseases. Therefore, treatment is recommended. However, there is no strong evidence on the efficacy of conservative treatments, and there are no recommendations for the use of these treatments in subjects with toe-in gait.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.519-520
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• 2006

The aim of this study was biomechanical analysis of shelf operation in patients with dysplastic hip joint by finite element contact analysis. Two dimensional CT images were used to construct the finite element models to analyze the contact pressure, and the 3D expansion of the Ninomiya's method was used in the calculation of the resultant force in the hip joint. The surgery recovered the center-edge angles to the normal anatomical range and increased the contact areas in two patients. The maximum contact pressures and von-mises stresses were decreased. The present study provides the biomechanical guideline of optimal surgical parameters to maximize the surgical efficiency and the clinical outcomes in dysplastic hip joint using the shelf operation.

• 한국태양에너지학회 논문집
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• 제36권3호
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• pp.25-31
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• 2016

Gaskets are usually used for the sealing of flange joints. The joint is usually composed of two flanges, a ring gasket and clamping bolts. The metal ring gasket is suitable for pipe flanges, pumps and valve joints in high temperature and high pressure environments. A very high surface stress is developed between a ring type joint gasket and the flange groove when the ring type joint is bolted up in a flange. The dimensions of flanges and ring joint gaskets for the pipe sizes that are in common use are specified in the ANSI codes. However, sometimes it is necessary to make a new design for the flange joint which is not specified in the codes, as the equipment is getting larger and larger in size. This paper presents the contact behavior of Class 600 ring joint gaskets with oval and octagonal cross sections. Five different sizes of gaskets are employed in the analysis, and one of them is newly designed on the basis of analysis results obtained from existing models. Three load steps are used to find the stress, stain and contact pressure etc., and to compare the contact characteristics among the models due to the bolt clamping force and the working surface pressure. ANSYS Workbench version15 is used to conduct the finite element analysis.

• 한국자동차공학회논문집
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• 제18권1호
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• pp.1-7
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• 2010

The paper proposes a multi-body dynamic simulation to numerically evaluate the generated axial force(G.A.F) and plunging resistant force(P.R.F) practically related to the shudder and idling vibration of an automobile. A numerical analysis of two plunging types of CV joints, tripod joint(TJ) and very low axial tripod joint(VTJ), is conducted using the commercial program DAFUL. User-defined subroutines of a friction model illustrating the contacted parts of the outboard and inboard joint are subsequently developed to overcome the numerical instability and improve the solution performance. The Coulomb friction effect is applied to describe the contact models of the lubricated parts in the rolling and sliding mechanisms. The numerical results, in accordance with the joint articulation angle variation, are validated with experimentation. The offset between spider and tulip housing is demonstrated to be the critical role in producing the 3rd order component of the axial force that potentially causes the noise and vibration in vehicle. The VTJ shows an excellent behavior for the shudder when compared with TJ. In addition, a flexible nonlinear contact analysis coupled with rigid multi-body dynamics is also performed to show the dynamic strength characteristics of the rollers, housing, and spider.

• 로봇학회논문지
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• 제3권1호
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• Computers and Concrete
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• 제14권2호
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• pp.109-125
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• 2014

The force transfer mechanism in positive moment continuity details for prestressed concrete girder bridges is investigated in this paper using a three-dimensional detailed finite element model. Positive moment reinforcement in the form of hairpin bars as recommended by the National Cooperative Highway Research Program Report No 519 is incorporated in the model. The cold construction joint that develops at the interface between girder ends and continuity diaphragms is also simulated via contact elements. The model is then subjected to the positive moment and corresponding shear forces that would develop over the service life of the bridge. The stress distribution in the continuity diaphragm and the axial force distribution in the hairpin bars are presented. It was found that due to the asymmetric configuration of the hairpin bars, asymmetric stress distribution develops at the continuity diaphragm, which can be exacerbated by other asymmetric factors such as skewed bridge configurations. It was also observed that when the joint is subjected to a positive moment, the tensile force is transferred from the girder end to the continuity diaphragm only through the hairpin bars due to the lack of contact between the both members at the construction joint. As a result, the stress distribution at girder ends was found to be concentrated around the hairpin bars influence area, rather than be resisted by the entire girder composite section. Finally, the results are used to develop an approach for estimating the cracking moment capacity at girder ends based on a proposed effective moment of inertia.