• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.71-75
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• 1999

In this paper, we present the 3DOF force-reflecting interface which allows to acquire force of object within a virtual environment. This system is composed of device, virtual environment model, and force-reflecting rendering algorithm. We design a 3 DOF force-reflecting device using the parallel linkage, torque shared by wire, and the controller of system applied by impedance control algorithm. The force-reflecting behaviour implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. Especially how force should be supplied to user, we know using a God-Object algorithm. As we experiment a system implemented by the interface of 3D virtual object and 3DOF force-reflecting interface, we can feel a contact, non-contact of 3D virtual object surface and sensing of push button model.

• Journal of the Korean Society of Safety
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• v.10 no.2
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• pp.113-119
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• 1995

Many studies have been done to determine the magnitudes of force a man can exert on the objects. However, very little attention has been paid to those In postures on slopes. This paper was aimed to evalute how human work postures would affect the push/pull force and to grasp the relationships between the rectified EMG(REMG) measured at the trunk muscles and force exerted on upward slopes. Two subjects participated in the experiment. The results showed no lineal relationship between the REMG and exerted force at handle. But as the slope and handle height increased, exerted force and muscular stress on erector spinae or rectus abdominis were generally increased. It was notified that since ANOVA did not detect any statistical significance in REMG variation due to dominant muscles, careful application and interpretation of the REMG should be required in analyzing maximal force exertions.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1778-1781
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• 1997

The coke oven plant on a steel works has not, in the past, been regarded as a prime user of modern instrument technology. The reason for this perception may be due to the fact that the basic design of the coke battery has been changed little over the years. The recording and analysis of oven pushing force on a routine basis is seen as a means of monitoring plant operation. A torque sensor is set up at the shaft of the rotor for measuring pushing force. Pushing force data which is communicated form torque sensor to staor by telemetry method are shown on MMI(Man-Machine Interface) screen and stored in the database automatically. Perhaps the most important feature is that is allows a problem oven to be identified at an early stage and for corrective action to be taken before it develops into a refusal to push. In this way the mechanical loads imposed on the battery structlure can be held to a necessary minimum, so helping to prolong its service life.

• The Journal of the Korea Contents Association
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• v.8 no.8
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• pp.244-252
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• 2008

This research differentiate the technique of Jungkwon-jirugi, one of the basic movements of Taekwondo, into two movements stop-jirugi and push-jirugi and gives analysis of the impulse, acceleration and velocity in the point of motor control. For this, we tried graphic analysis using an acceleration sensor and high speed camera which was made from USA in 2005 and took pictures at 250 frames per second. We reached the following conclusions. First, the acceleration wave of push-jirugi was a period longer than stop-jirugi, meaning that the push-jirugi motion asserts force for a longer time. Second, the acceleration and velocity graph shows that the highest velocity occurs on the point when the acceleration begins to decrease right after reaching its maximum. Third, according to the image analysis using the high speed camera, we could find out that the shoulder is pushed a little even in the stop-jirugi motion.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.455-461
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• 1999

In this paper, we present the 3DOF force-rei1ecting interface which allows to acquire force of objc'Ct within a a virtual environment. This system is comlxlsed of device, virtual environment model, and force-rei1ecting r rendering algorithm. We design a J DOF force reflecting device using the pc$\alpha$allel linkage, torque shared by W wire, and the controller of system applied by impedance control algorithm. The force reflecting behaviour i implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. E Especially how force should be supplied to user, we know using a God-Object algorithm As we experiment a system implement$\varepsilon$d by the interface of 3D virtual object and 3DOF force reJll'Cting i interface, we can feel a contact, non contact of :)D virtual object surface and sensin앙 of push button model.utton model.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.55 no.3
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• pp.149-155
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• 2006

This paper presents a torsional micromirror detached from PZT actuators (TMD), whose rotational motion is achieved by push bars in the PZT actuators detached from the micromirror. The push bar mechanism is intended to reduce the bending, tensile and torsional constraints generated by the conventional bending bar mechanism, where the torsional micromirror is attached to the PZT actuators (TMA). We have designed, fabricated and tested prototypes of TMDs for single-axis and dual-axis rotation, respectively. The single-axis TMD generates the static rotational angle of $6.1^{\circ}$ at 16 VDC, which is 6 times larger than that of single-axis TMA, $0.9^{\circ}$. However, the rotational response curve of TMD shows hysteresis due to the static friction between the cover and the push bar in the PZT actuator. We have shown that 63.2% of the hysteresis is due to the static friction caused by the initial contact force of the PZT actuaor. Without the initial contact force, the rotational response curve of TMD shows linear voltage-angle characteristics. The dual-axis TMD generates the static rotational angles of $5.5^{\circ}$ and $4.7^{\circ}$ in x-axis and y-axis, respectively at 16 VDC. The measured resonant frequencies of dual-axis TMD are $2.1\pm0.1$ kHz in x-axis and $1.7\pm0.1$ kHz in y-axis. The dual-axis TMD shows stable operation without severe wear for 21.6 million cycles driven by 16 Vp-p sinusoidal wave signal at room temperature.

• Nuclear Engineering and Technology
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• v.34 no.5
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• pp.468-481
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• 2002

There are 4 CANDU6 type reactors operating at Wolsong site. For fuelling operation of certain fuel channels (with flow less than 21.5 kg/s) a FARE flow Assist Ram Extension) device is used. During the refuelling operation, two remote controlled F/Ms (Fuelling Machines) are attached to a designated fuel channel and carry out refuelling job. The upstream F/M inserts new fuel bundles into the fuel channel while the downstream F/M discharges spent fuel bundles. In order to assist fuelling operation of channels that has lower coolant How rate, the FARE device is used instead of F/M C-ram to push the fuel bundle string. The FARE device is essentially a How restricting element that produces enough drag force to push the fuel bundle string toward downstream F/M. Channels that require the use of FARE device for refuelling are located along the outside perimeter of reactor. This paper presents the FARE device design feature, steady state hydraulic and operational characteristics and behavior of the device when coupled with fuel bundle string during fuelling operation. The study showed that the steady state performance of FARE device meets the design objective that was confirmed by downstream F/M C-ram force to be positive.

• Steel and Composite Structures
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• v.48 no.2
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• pp.131-143
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• 2023

The CFRP bar was used to achieve more ductile and durable headed-stud shear connectors in composite components. Three series of push-out tests were firstly conducted, including specimens reinforced with pure steel fibers, steel and CFRP bars. The distributed stress was measured by the commercial PPP-BOTDA (Pre-Pump-Pulse Brillouin optical time domain analysis) optical fiber sensor with high spatial resolution. A series of numerical analyses using non-linear FE models were also made to study the shear force transfer mechanism and crack response based on the test results. Test results show that the CFRP bar increases the shear strength and stiffness of the large diameter headed-stud shear connection, and it has equivalent reinforcing effects on the stud shear capacity as the commonly used steel bar. The embedded CFRP bar can also largely improve the shear force transfer mechanism and decrease the tensile stress in the transverse direction. The parametric study shows that low content steel fibers could delay the crack initiation of slab around the large diameter stud, and the CFRP bar with normal elastic modulus and the standard reinforcement ratio has good resistance to splitting crack growth in headed stud shear connectors.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.11 no.2
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• pp.71-82
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• 2005

The couple force of the scapular stabilizers for upward rotation that include the upper and lower trapezius, serratus anterior muscles is essential to maintain the stability of shoulder joint. But if there is an imbalance of these muscles, it would occur many problems of shoulder joint. A push-up plus exercise with an unstable support is used in order to increase the muscle activity and stimulate the proprioception of shoulder joint. The purpose of this study was to compare the muscle activity of upper and lower trapezius, serratus anterior muscles and to determine which exercise is more effective when subjects perform push-up plus exercise in the stable support and unstable support. 15 healthy subjects and 15 painful subjects with injury of shoulder joint participated in this study. Surface electromyography data were collected during plus phase of push-up plus exercise. The types of push-up plus exercise were composed of three conditions. Stable type is subjects performed the push-up plus exercise on the fixed support and unstable type 1 is on the sling without shaking and unstable type 2 is on the sling with shaking by tester's manual. The upper and lower trapezius activities of injured group were higher than uninjured group at three measure conditions, but serratus anterior activities were not. The UT/SA ratio of injured group was higher than uninjured group at three measure conditions. The serratus anterior activities were most high at unstable 2 measure in both groups. The UT/SA ratio was most low at unstable 2 measure condition in injured group only. The present result revealed that push-up plus exercise in the unstable support with shaking which took most high serratus anterior activities and most low of UT/SA ratio is optimal cure method that can improve the imbalance of the scapular stabilizer.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.