• 대한기계학회논문집A
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• 제28권9호
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• pp.1344-1351
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• 2004

This study develops a haptic display model which is an indispensable for the force generation in the virtual environment. In developing the haptic display model, a Proxy concept and a Karnopp friction model are utilized to generate the reaction force and the friction force. Also this study develops a 2 D.O.F. remote wiping system. This system is composed of a 2 D.O.F. master manipulator, a force sensor equipped 2 D.O.F. slave manipulator and a real time controller. With the developed remote wiping system, this study identifies the friction characteristic of the aluminum, acryl and rubber plate. The results are used as the dynamic friction coefficient of the haptic display model. This study shows the efficiency of the developed haptic display model by the comparison between the friction characteristic of the haptic display with the developed haptic display model and the friction characteristic of the real aluminum, acryl and rubber plate.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.60-63
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• 2000

In this study, efficient force reflection algorithm is developed for the Haptic Display by using a proxy concept and friction model. When there are not any contacted obstacles the proxy is following human operator's command trajectory in the 3D virtual space. But when the operator's command trajectory is locating inside of the object, the proxy is constrained by the surface of the object. Here only with the information of the proxy position and operator's command trajectory at every time step, we can calculate the reflection force and its orientation. To display the friction force between two virtual stiff material which are sliding against each other, modified Karnopp's friction model is used. In the friction model, a damping term and a Stribeck effect term are included to display the relative velocity effect and stick-slip effect at the very low relative velocity region respectively.

• 한국정밀공학회지
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• 제18권4호
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• pp.64-71
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• 2001

In general, precise linear actuators using piezoelectric element are driven by friction force. Exact understanding of friction plays an important role in analysis and control of a motor. In this research, we designed a precise linear actuator using piezoelectric elements and observed its dynamic characteristics. By varying phase angle difference and amplitudes of the sinusoidal waves that are driving inputs, we can know that it is possible to control moving direction and distance of the slider. As preload is increased, its moving distance is decreased. And also, we have modeled a precise linear actuator using stick slip friction models such as classical, Karnopp. and reset integrator. Finally, by comparing the results of simulation and experiment, it was verified that the model is well designed.

• Korean Journal of Acupuncture
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• 제35권3호
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• pp.149-158
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• 2018

Objectives : In this study, we quantitatively evaluated the needle forces using needle insertion-measurement system and compared the needle sensation of each acupuncture practical model. Methods : After inserting acupuncture with a sensor to six models, a lifting-thrusting motion was implemented using the needle insertion-measurement system. The needle force was measured repeatedly, and the measurement was analyzed based on the modified Karnopp friction model for a comparison of friction coefficients. After the insertion, practitioners did lifting-thrusting manipulations. They quantified the similarity of needle sensation with VAS (Visual Analogue Scale). Results : When friction force and coefficients of friction in five different models were compared with a porcine shank model, all five models were significantly different from a porcine shank model, cotton and apple showing the closest frictional values to that of a porcine shank model. In the Cp and Cn values of cotton and in the Cp values of IM injection pad, there was no statistically significant difference. The similarity of the needle sensation between the porcine shank and five models was the highest in the apple, and overlapping papers was the lowest. Conclusions : This study quantitatively compared the physical forces in the practical model when implementing lifting-thrusting manipulations, using a needle insertion-measurement system. We suggest that a reproducible exercise model that reflects the characteristics of various human tissues, such as viscoelasticity or strength, needs to be further developed. This will contribute to establishing standardized acupuncture practice training.