• Journal of the Korean Society for Precision Engineering
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• v.24 no.2 s.191
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• pp.64-72
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• 2007

Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi-and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

• The Journal of the Convergence on Culture Technology
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• v.9 no.2
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• pp.525-531
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• 2023

In Korea, which is entering a super-aged society, the number of elderly patients who have difficulty walking independently is expected to increase rapidly, and it is necessary to develop wheelchair products with various functions to improve the quality of life of people with walking disabilities. Recently, wheelchair power assist devices that provide propulsion power by being attached to a manual wheelchair has been developed and is entering the domestic and global markets. In this study, we compared and analyzed the process of obtaining medical device certification for wheelchair power assist devices in Korea, the United States, and Europe. In Korea, a Class 2 medical device certification process was developed in 2021, and in the US FDA, it corresponds to Class 2 like the existing electric wheelchair and must pass the 510k certification process. In the case of Europe, it is uniquely regulated as Class I, and the CE mark can be attached through a relatively easy self-declaration of conformity. The Korean medical device industry, which is struggling with MDR certification, a new European medical device regulation, should pay attention to the relatively easy entry into the global market for wheelchair power assist products.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1423-1424
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.309-314
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• 1992

Many dynamic mechanical systems, such as parts-feeders, walking machines, and percussive power tools, are described by equations of motion which are discontinuous. The discontinuities result from kinematic constraint changes which are difficult to foresee, especially in presence of impact. A simulation algorithm for these types of systems must be able to algorithmically predict and detect the kinematic constraint changes without any prior knowledge of the system's motion. This paper presents a rule-based approach to the prediction and detection of kinematic constraint changes between bodies with arc and line boundaries. The developed algorithm's ability to accurately and automatically detect the unpredicted changes of kinematic constraints is demonstrated with a numerical example.

• Journal of IKEEE
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• v.16 no.3
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.5C
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• pp.415-421
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• 2005

Passive RFID tag does not have its own power, so it has very poor computation abilities and it can deliver signals in very short range. From the facts, most RFID Tag security schemes assumed that the backward channel from tags to a reader is safe from eavesdropping. However, eavesdroppers near a tag can overhear message from a tag illegally. In this paper, we propose a method to protect the backward channel from eavesdropping by illegal readers. The proposed scheme can overcome the problems of conventional schemes such as randomized tree walking, which have been proposed to secure tag information in tree-walking algorithm as an anti-collision scheme for RFID tags. We showed the efficiency of our proposed method by using an analytical model, and it is also shown that the proposed method can provide the probability of eavesdropping in some standardized RFID tag system such as EPCglobal, ISO, uCode near to '0'.

• Fashion & Textile Research Journal
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• v.21 no.3
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• pp.300-307
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• 2019

This study develops a user centered outdoor jacket capable of energy harvesting based on consumer needs. Jackets are designed for typical outdoor activities such as hiking, trekking, and climbing, integrated with an energy harvesting module that can generate electric power from arm swing in outdoor and daily life walking. Textile based energy generators developed by the previous research of Lee & Roh (2018) were used. A prototype was created based on the arm swing motion experiment for location options and energy harvesting system functions, the simulation by the design sketch, and evaluation of the wearing test by experts. In-depth interviews were later conducted for the prototype with 10 outdoor experts to derive the optimal location of an energy harvesting system in three ways, and the prototype was revised to 5 styles that reflected reviews by experts on function and appearance. Research indicated that the energy harvesting jacket design signifies a user-centered design based on expert interviews and usability evaluation as well as previous research on energy generation and storage device. The jacket is convenient because it combines an energy generator in an optimal position to maximize energy generation with a storage and charging device that can be inserted into various position options for accessibility.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.8
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• pp.104-110
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• 2008

The aim of this study ultimately is verifying that PGO gait is more efficient than RGO fur paraplegics because the air muscle assists hip flexion power in heel off movement. The gait characteristics of the paraplegic wearing the PGO or RGO are compared with that of a normal person. PGO with air muscles was used to analyze the walking of patients with lower-limb paralysis, and the results showed that the hip joint flexion and pelvic tilt angle decreased in PGO. In comparison to RGO gait, which is propelled by the movements of the back, PGO uses air muscles, which decreases the movement in the upper limb from a stance phase rate of 79$\pm$4%(RGO) to 68$\pm$8%. The energy consumption rate was 8.65$\pm$3.3 (ml/min/Kg) for RGO, while it decreased to 7.21t2.5(ml/min/Kg) for PGO. The results from this study show that PGO decreases energy consumption while providing support for patients with lower-limb paralysis, and it is helpful in walking for extended times.

• Journal of Biosystems Engineering
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• v.29 no.6 s.107
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• pp.487-494
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• 2004

This study was conducted to develope a fertilizer-soil incorporation band tiller for the walking cultivator. Because the mixing of soil and fertilizer in the furrow of dry-field has been done manually, several time, heavy labor and much man power were required for the job. This rotary type implement is developed to substitute this manual operation for soil-fertilizer incorporation. The results of this study are summarized as follows : 1) This implement was composed of tilling device, fertilizer application device, frame and tail wheel device. 2) The revolution of driving wheel was $11\~28\;rpm$, that of application roller was $13\~14\;rpm$ the application rate range per revolution of driving wheel was $4.43\~11.80\;g$g and the application rate range by the working speed and the opening quantity was $84.12\~557.20\;g/min$. 3) The adequate working speed was $0.20\~0.40\;m/s$ and the required minimum width of open furrow was 250 mm.

• PNF and Movement
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• v.22 no.2
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• pp.289-303
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• 2024

Purpose: In this study, 100 stroke patients and 205 physical therapists were surveyed to determine the essential functions needed in the rehabilitation process of stroke patients. Methods: This study involved 100 stroke patients and 205 physical therapists. Sixteen functions suggested in the previous study as necessary in the rehabilitation process of stroke patients were selected, and a revised questionnaire was prepared and distributed to several institutions. A frequency analysis of the collected data was conducted to aggregate the functions required in rehabilitation, and a scoring process was used to determine their ranking among the 16 functions. Results: The functions required in the rehabilitation process, as selected by stroke patients, were ranked as follows: walking, toileting, eating, using products and technology for communication, and washing oneself. The functions required in the rehabilitation process, as selected by physical therapists, were ranked as follows: muscle power functions, maintaining body position, muscle tone functions, attention functions, and walking. Conclusion: The results of the study confirm the importance of an agreed goal between the stroke patient and the therapist regarding the functions required for the rehabilitation. This understanding plays a significant role in achieving the patient's expectations and the therapist's predicted performance, thereby providing reassurance and confidence in the impact of the research.