• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 1996.04a
• /
• pp.141-146
• /
• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• Journal of the Ergonomics Society of Korea
• /
• v.15 no.2
• /
• pp.165-176
• /
• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.5
• /
• pp.1774-1779
• /
• 2014

It is known that muscle strength of human body can alter or deteriorate as aging. In this study, we present an inverse dynamics simulation to investigate the effect of muscle strength on performing the daily activities. A 3D musculoskeletal model developed in this study includes several segments of whole body, long and short muscles, ligaments and disc stiffness. Five daily activities such as standing, flexion, finger tip to floor, standing lift close and lifting flexed were simulated with varying the maximum muscle force capacities (MFC) of each muscle fascicles from 30 to $90N/cm^2$ with an increment of $30N/cm^2$. In the result, no solution can be obtained for finger tip to floor and lifting flexed with $30N/cm^2$. Even though the solution was available for standing lift close activity in case of $30N/cm^2$ capacity, many of muscle fascicles hit the upper bound of muscle strength which means that it is not physiologically possible to perform the acvities in reality. For lifing flexed, even the case of $60N/cm^2$ capaciy, represents the moderate healthy people, was not able to find the solutions, showing that 18 muscles among 258 muscle fascicles reached 100% of muscle capacity. The estimated results imply that people who have low muscle strength such as elders or rehabilitation patients were required higher muscle work to perform and maintain the same daily activities than healthy one.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.20 no.44
• /
• pp.323-332
• /
• 1997

This study evaluated the compression force at the L5/S1 disc using EMG(Electromyography). EMG signals were analyzed under the condition of fixed vertical factor (20Cm∼80Cm), two horizontal factors (35Cm, 55Cm), and two weight factors (10Kg, 25Kg) 2 times per minute for each posture. Also, the result was compared with the compression force of each posture which computated by the equation of NIOSH(National Institute for Occupational Safety and Health) guide to manual lifting(1991). The experimental result show that EMG signals have more an effect on the Weight than the Horizontal factors. Also, there are not significant differences on the analysis result of EMG signals between Health members and not, because the body buildings which doing Health members are not enhanced the motor unit due to the MMH(Manual Material Handing).

• Journal of the Korean Society of Safety
• /
• v.10 no.4
• /
• pp.103-108
• /
• 1995

This study was performed to investigate a relationship between a biomechanical analysis of compressive force at L5/S1 and electromyographic analysis of erector spinae muscle during lifting task. In the experiment, isometric contractions at 25, 50, 75, 100%MVC for short duration and sustained isometric contractions at 50%MVC were performed. For muscle recruitment patten and compressive force analysis, rectified EMG amplitudes analysis and computerized biomechanical analysis were used. To achieve data, angles of neck, shoulder, elbow, wrist, hip, knee, ankle and length of body segments were measured. Results shows that trends of initial EMG rectified amplitude were similar to those of biomechanical calculation value and for sustained isometric contraction at 50%MVC EMG rectified amplitude of erector spinae muscle after 40seconds was increased up to level of 75%MVC. Based on the results of this study, biomechanical analysis should be supplemented considering muscle fatigue, and it is also suggested that work-rest cycle critera and the evaluation of back-pain injuries should include muscle fatigue.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.05a
• /
• pp.300-303
• /
• 2006

The rotor blade of a helicopter is the key structural units and provides three components such as vertical lifting force, horizontal propulsive force and control force. With advancements in aerospace technology, composite materials have been widely used in lightweight structures. In addition, composites show great potential on the design of rotor blades due to the advantages of strength, durability and weight of the materials. In the operational condition of a helicopter, it is required the vibration characteristics of the rotating blades for avoiding resonance and analysis of efficient performance prediction et al. In this study, the CAMRAD-II is used for analyzing the vibration characteristics of rotating composite blades. The effects of rotating speed and collective angles are investigated. Also, the numerical results are compared with experimental data.

• Journal of Ocean Engineering and Technology
• /
• v.19 no.1 s.62
• /
• pp.77-86
• /
• 2005

Over the last 10 years, significant changes have taken place in the world of container shipping. The size and the speed of the quay-side crane have been increased considerably. As a result, the stiffness of a crane is decreased and the sway oscillation of cargo may become violent. The purpose of this paper is to determine the design force caused by the sway oscillation of the cargo, lifted by four ropes, with an initial fleet angle, and the governing equations of the lifting system for an anti-sway control system design.

• Journal of Biomedical Engineering Research
• /
• v.22 no.1
• /
• pp.109-117
• /
• 2001

본 연구는 요통재해를 일으킬 수 있는 위험요소를 많이 내포한 운수유통업의 인력운반방법(Manual Material Handing)에 대한 요통발병의 위험정도를 측정하였다. 운수유통업에서 이루어지고 있는 운반작업은 우리나라의 제반환경특성상 도구를 사용하지 않고 대부분 사람에 의해 이루어지고 있다. 운반방법도 짊어지는 형태인 등짐작업이 많이 이용되고 있다. 그러나 이에 대한 체계적인 연구가 수행되고 있지 않은 실정이다. 본 연구의 목적은 등짐자세로 물건을 운반할 때와 물건을 하역하여 정리하는 작업이 요추에 미치는 물리적 힘이 어느정도인지 규명하여 위험수준을 파악하는데 그 목적이 있다. 등짐운반과 정리작업(비대칭형 작업)에 대한 역학적인 연구를 수행하기 위하여 몸통근육에 미치는 internal force을 규명하여 정량화한 Han's (1991) model을 이용하여, 이들 작업에 대한 역학적인 분석을 실시하였다.

• Journal of Korean Society of Steel Construction
• /
• v.15 no.1
• /
• pp.77-85
• /
• 2003

The lifting and lowering supports method makes up for the weak points in the classical method and provides makes construction economical effect to construction. The application of pre-compression to continuous steel box girder bridges makes it possible to reduce the amount of steel, the height of girders and consequently, the cost consequentlyof the bridges' construction by through the process of concrete filling- up and the lifting-lowering of the inner supports. The lifting and lowering supports method is apt to cause local buckling in the lower flange and web plates by due to the process of the lifting of the inner supports. Therefore iln this study, therefore, the possibility of local buckling could be decreased, in consideration of the lifting force and the buckling strength of stiffened plates, by increasing the number of longitudinal stiffeners and the installation of extended longitudinal stiffeners on the lower flange and the web plates in the range of positive moment.

• Journal of the Korean Magnetics Society
• /
• v.6 no.1
• /
• pp.40-47
• /
• 1996

In this paper, the optimal design rrethod of the electropermanent magnetic lifter is proposed. The electromag-netic performances at the states of attraction and release are calculated by the means of the equivalent magnetic circuit rrethod. The magnetic flux flow, the magneto-rrntive force and the aJronnt of lifting force correspond to the electromagnetic performances. As the optimization algorithm, the evolution strategy(ES) is applied for the maximization of the electromagnetic force at the state of attraction and for the minimization of the volume within the alJowable electomagnetic force range.[3] At this rrnrrent, the optimization satisfy the minimization of the electromagnetic force at the state of release. The validity of the proposed optimization rrethod is verified by the comparison between the optimization result and the FEM result (this FEM result is obtained from MAXWELL).