• 한국산업융합학회 논문집
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• 제22권3호
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• pp.325-335
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• 2019

In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

• 한국산업융합학회 논문집
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• 제23권2_2호
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• pp.313-321
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• 2020

In this paper, two types of linear actuation methods for the previously proposed adaptive gripper are presented, which includes actual parallelogram inside a five-bar mechanism and has the advantages of smaller actuation torque and larger stroke over the commercial adaptive gripper by RobotiQ. The forward/inverse kinematics and statics analyses for two types of linear actuations are derived. From the inverse kinematics and statics analyses, linear actuation type I is selected and the gripper prototype is designed.

• 한국노년학
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• 제40권1호
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• pp.91-109
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• 2020

본 연구는 45세 이상 중노년기 부부를 대상으로 부부의 운동참여가 악력의 종단적 변화 궤적을 매개로 삶의 만족도에 미치는 영향을 남편과 아내의 상호의존성에 기반하여 탐색하고자 한다. 이를 위해 전국단위의 자료수집을 실시한 한국고령화연구패널의 1차(2006년)에서 6차(2016년)까지의 종단자료를 활용하였다. 연구대상은 1차년도에 45세 이상인 중노년기 부부 1,997쌍이다. 본 연구의 종속변수는 남편과 아내 각각의 삶의 만족도이며, 매개변수는 남편과 아내 각각의 악력의 초기값과 변화량, 독립변수는 부부의 운동참여이다. 분석과정은 상관분석, 평행잠재성장모형의 기초모형과 연구모형 분석, 매개경로에 관한 간접효과 검증의 세 단계로 진행되었다. 상관분석 결과 중노년기 부부인 남편과 아내는 동일 시점에서의 악력, 삶의 만족도와 관련하여 유의한 상관성을 가지는 것으로 나타났다. 또한 평행잠재성장모형의 기초모8형 분석결과에 따르면 시간이 흐름에 따라 평균적으로 중노년기 남편과 아내의 악력이 감소하는 경향이 있는데, 악력의 초기값에 대해서는 부부인 남편과 아내의 상관성이 발견되었지만 악력의 종단적 변화량에 대해서는 상관성이 발견되지 않았다. 연구모형 분석결과에서 발견된 유의한 직접효과들을 토대로 매개경로에 관한 간접효과 검증을 실시한 결과, 부부의 운동참여가 남편의 악력 초기값을 매개로 남편의 삶의 만족도와 아내의 삶의 만족도에 영향을 미치는 두 개의 종단적 경로가 통계적으로 유의하였다. 이와 더불어 남편만 운동에 참여하는 것 역시 남편의 악력 초기값을 매개로 아내의 삶의 만족도에 간접적인 영향을 주는 것으로 나타났다. 이러한 본 연구결과는 중노년기 부부의 노화 과정이 부부의 젠더관계와 상호의존성 맥락에서 이해될 필요가 있다는 것과 중노년기 부부의 운동참여를 증진시키고, 신체적 기능 감퇴를 예방하여 삶의 질을 증진하기 위해서는 부부단위의 접근이 필요하다는 것을 시사한다.

• 한국운동역학회지
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• 제13권3호
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• pp.15-26
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• 2003

This study was conducted to investigate the performance times, CM position and CM speed, pole chord length and pole chord angle, whole body angular momentum(X axis), and grip width in pole vault event according to the event and phase; touch down, pole plant, take-off, maximum pole bending pole straight, pole release, peak height, and foot contact, pole contact, free flight. The pole vaulting of four male elite vaulters including six trial were filmed using two video digital cameras at 60 Hz at 56th national athletic match, and data were collected through the DLT method of three dimensional cinematography. In general the better jumper is, the longer the performance time is. And the greater CM speed is, and the better his transformation ability of CM horizontal speed into vertical speed is. As he uses a longer pole, his grip is higher, and it is a enough for him to rock back his body, so that he pulls and pushes the pole well keeping his hips close to. An greater maximum angular momentum and early positioning of the hips parallel to the bar makes his body far side of the bar and his bar clearance easier. Specially our national jumper needs to have more powerful braking force during foot contact phase, and take his body on the pole after maximum pole bending, and pull and push the pole strongly keeping his hips close to. Also he needs to have stronger muscular strength in order to control the longer pole and use the pole of proper tension more efficiently.

• 한국산업융합학회 논문집
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• 제4권4호
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• pp.379-386
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• 2001

The lower toughness or brittle materials for mechanical test lead to the additional requirement that applied displacements be controlled with high resolution. Biaxial tension and shear tester using stepper motor with harmonic driver is shown. The device had to be high resolution so that the crack initiation process of slow extension and steady growth could be examined, Grip plates were connected to a linear bearing and actuator. The actuators consisted of stepper motors with harmonic driver connected to pre-loaded ball screw and nut assemblies. The encoders and motor controllers were connected to a personal computer so that arbitrary displacements histories could he prescribed in normal and tangential directions. The linear bearings were used to react loads perpendicular to their axes while allowing low friction, parallel movement of the attached grips. Load cells measured the reactions normal and tangential. the loads measured the reactions were recorded by the computer.

• 한국산업융합학회 논문집
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• 제25권2_1호
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• pp.185-193
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• 2022

For grippers of industrial robots, parallel grippers and multi-function finger grippers are used. The former has the advantage of low cost but has the disadvantage of low precision, and the latter has the advantage of excellent precision but has the disadvantage of being expensive. In this paper, we developed a grip that can detects the various shapes of the object to be gripped on the gripper surface by using mesured pressure information frome Veloset Sheet sensor so that the gripper can be gripped without deforming the surface of the gripper. Also we did not only developed the array type gripper and 4 array type grippers (ATG), but also confirmed the usefulness of array type gripper developed in this study according to the 4 predefined evaluation criteria

• 대한통합의학회지
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• 제4권2호
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• pp.77-88
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• 2016

Purpose : The purpose of this study was to explore an effect exerted to non-affected hand and affected hand of patients by performing training of chopsticks and grasp strength that are helpful to dexterity and grasp strength of hand together with training method of joint exercise, muscle strength build-up training, delicate hand function training. Method : By targeting 30 normal adult male/females engaged in K university, Busan for one month on April, 2015, 10 persons of hand function build-up training group, that of dexterity training group and 10 persons of control group were randomly selected. For hand function build-up training group, chopsticks training in parallel with total 20 times of grasp strength training for 4 weeks including 5 minutes of dominant hand grasp strength training, 5 minutes of non-dominant hand grasp strength training, 15 minutes of chopsticks training was performed based on 25 minutes/one time, 5 times a week. Result : First, In a comparison of dexterity of both hands by each group depending on training period, hand function build-up group and dexterity training group were represented to be effective compared with control group. Secondly, In a comparison of manipulatory ability of both hands by each group depending on training period, hand function build-up group and dexterity training group were represented to be effective compared with control group. Conclusion : It is considered that diversified and broad research covering patients with musculoskeletal disease and nervous system-related disease would be performed by securing far more test subjects after comparing a correlation between dexterity training and hand function training.