• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.1063-1072
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• 1996

Fruit harvesting robots should have more diversity and flexibility in the working conditions and environments than industrial robots. This paper presents an efficient optimization algorithm for redundant manipulators to avoid obstacles using dynamic performance criteria, while the optimization schemes of the previous studies used the performance criteria using kinematic approach. Feasibility and effectiveness of this algorithm were tested through simulations on a 3-degrees-of-freedom manipulator made for this study. Only the position of the end-effector was controlled , which requires only three degrees of freedom. Remaining joints, except for the wrist roll joint, which does not contribute to the end-effector linear velocity, provide two degrees of redundancy. The algorithm was effective to avoid obstacles in the workspace even through the collision occurred in extended workspace, and it was found be to a useful design tool which gives more flexibility to design conditions nd to find the mechanical constraints for fruit harvesting robots.

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.151-158
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• 2006

The purpose of this study was to find out the kinematical characteristics of arm's basic position in ballet. In order to achieve the purpose of the study, 3D cinematographic analysis was conducted with a ballerina who might performed the perfect arm's basic position. According to the results of this study, it was appeared that the shoulder kept about 78%-82%, the elbow kept about 62%-96%, the wrist kept 52%-109%, and finger kept 48%-110% with the height. Also, movement was formed with $21^{\circ}-77^{\circ}$ of the upper arm angle, $106^{\circ}-164^{\circ}$ of the elbow, $125^{\circ}-140^{\circ}$ of the wrist, and $83^{\circ}-160^{\circ}$ of the shoulder. The left-right ratio of the total arm angle was 98% in the first, second, and third position, and 100% in the forth position. The angle of arm gradient was remained $-68^{\circ}$ in the first position, $-27^{\circ}$ in the second position, $73^{\circ}$ in the third position, and $-11^{\circ}$ in the forth position. Based on the results mentioned above, balance and symmetry of both arms was an important factor in those four positions. Although it is impossible to maintain the position like robot, it may be a good performance if a certain level of extent was remained With respect to this point of view, it may be a good position if the difference between right and left arm in each joint can be remained within 2%. Angle also was an important factor that if the difference in total angle can be remained within 2% it may be an excellent position, there was difference of right and left based on the joint though. Therefore, practice and instruction to make a perfect symmetry as much as possible were needed Also, it would be a good movement if position and angle of joint within 2% difference of right and left arm can be remained In turn, because ballet is movement with expression of the body, beauty of the body and balance of the movement have to be harmonized for beautiful performance. Therefore, it would be a meaningful future study considering the body condition and movement of ballerina to define the beauty.

• Journal of Chest Surgery
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• v.41 no.5
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• pp.659-662
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• 2008

Video-assisted pulmonary lobectomy was introduced in the early 1990's by several authors, and the frequency of video-assisted thoracic surgery (VATS) lobectomy for lung cancer has been slowly increasing because of its safety and oncologic acceptability in patients with early stage lung cancer However, VATS is limited by 2D imaging, an unsteady camera platform, and limited maneuverability of its instruments. The da Vinci Surgical System was recently introduced to overcome these limitations. It has a 3D endoscopic system with high resolution and magnified binocular views and EndoWrist instruments. We report three cases of da Vinci robot system-assisted pulmonary lobectomy in patients with early stage lung cancer.

• Journal of Physiology & Pathology in Korean Medicine
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• v.19 no.6
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• pp.1673-1675
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• 2005

The pulse diagnosis is an important and universal method in Oriental medicine. Nevertheless, because of characteristic that depends on subjective sense of Oriental medicine doctor (OMD), it is not recognized by objective basis. The Korean Institute of Oriental Medicine(KIOM) and Daeyo Medi. Co. Ltd. developed the 3-D Mac using arrey piezoresistive sensors and multi-axial robot. 133 healthy subjects participated in this study, 75 males and 58 females, between 20 and 70 years of age. All subjects were relaxed in a supine position on a comfortable chair for twenty minutes before the measurement was taken. The measured position is the radial artery of subject's left wrist and the position is called Chon, Kwan and Chuck in Oriental medicine. To detect floating and sinking pulse, we established coefficient of floating and sinking(CFS). CFS means relative position of maximum pulse pressure in PH curve. The lower CFS value means that the pulse has floating tendency. There was significant diffence between CFS and diagnosis of floating-sinking pulse by OMD(p=0.020). CFS value of over 40's group was significantly larger than those of 20's and 30's(p=0.000). There was no significant difference between male and female(p=0.061).

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.8
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• pp.374-379
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• 2002

In this study, we developed a new human arm movement detection system using electrical bio-impedance method with several skin-electrodes. The correlation coefficients of the joint angle and the impedance change from human arm movement was obtained using a goniometer and impedance measurement system developed in this study. The correlation coefficients of the wrist and the elbow movements were 0.94 and -0.99, respectively. This system was applied to control a robotic arm by converting the measured impedance to joint angle to confirm the validity of the proposed system. In conclusion, we confirmed that this system can control the robotic arm according to arm movement without any limitation of movement. This system showed possibility that upper arm movement could be easily measured by impedance measurement system with a few skin-electrodes.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.163-170
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• 2013

Purpose: The purpose of this study is to provide analysis of physiological, biomechanical responses occurring from the operation to lifting or twist lifting task appears frequently in agricultural work. Methods: This study investigated the changes of physiological factors such as heart rate, heart rate variability (HRV) and biomechanical factors such as physical activity and kinetic analysis in the task of twisting at the waist while lifting. Results: Heart rates changed significantly with the workload. The result indicated that the workload of 2 kg was light intensity work, and the workload of 12 kg was hard intensity work. Physical activity increased as the workload increased both on wrist and waist. Besides, stress index of the worker increased with the workload. Dynamic load to herniated discs was analyzed using inertial sensor, and the angular acceleration and torque increased with the workload. The proposed measurement system can measure the recipient's physiological and physical signals in real-time and analyzed 3-dimensionally according to the variety of work load. Conclusions: The system we propose will be a new method to measure agricultural workers' multi-dimensional signals and analyze various farming tasks.

• Proceedings of the KWS Conference
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• 2001.05a
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• pp.65-68
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• 2001

The application of a feedback control system in robotic arc welding is becoming more and more demanding than ever before. This requirement arises from the fact that robotic arc welding process needs no manual operator to monitor and manipulate the process parameters and hence a means of controlling the quality of the robotic arc welding process becomes apparent. Arc force sensor employed in this research to monitor the bead geometry of the arc welding process, A relationship between the bead dimension and the arc force distributions was established. Experimental configuration for measurement of arc force was used to quantify the changes in the arc force distributions of the plate being welded. Arc force sensor mounted at the end of the robot wrist was employed to measure the arc force applied to the weld. The sensor information was the used to establish a relationship between welding current and arc force. Arc force sensor have shown to be on of the most sophisticated technique to monitor perturbations that occurred during arc welding process.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5440-5445
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• 2014

Many studies have examined robot control using human bio signals but complicated signal processing and expensive hardware are necessary. This study proposes a method to recognize a human's hand motion using a low-cost EMG sensor and Flex sensor. The method to classify movement of the hand and finger is determined from the change in output voltage measured through MCU. The analog reference voltage is determined to be 3.3V to increase the resolution of movement identification through experiment. The robotic hand is designed to realize the identified movement. The hand has four fingers and a wrist that are controlled using pneumatic cylinders and a DC servo motor, respectively. The results show that the proposed simple method can realize human hand motion in a remote environment using the fabricated robotic hand.

• Journal of Biomedical Engineering Research
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• v.30 no.6
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• pp.503-509
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• 2009

The development of technology has led to ubiquitous health care service, which enables many patients to receive medical services anytime and anywhere. For the ubiquitous health care environment, real-time measurement of biomedical signals is very important, and the medical instruments must be small and portable or wearable. So, such devices have been developed to measure biomedical signals. In this study, we develop the biomedical monitoring device which is sensing the PPG signal, one of the useful signal in the field of ubiquitous healthcare. We design a watch-like biomedical signal monitoring system without a finger probe to prevent the user's inconvenience. This system obtains the PPG from the radial artery using a sensor in the wrist band. But, new device developed in this paper is easy to get the motion artifacts. So, we proposed new algorithm removing the motion artifacts from the PPG signal. The method detects motion artifacts by changing the degree of brightness of the light source. If the brightness of the light source is reduced, the PPG pulses will disappear. When the PPG pulses have disappeared completely, the remaining signal is not the signal that results from the changing blood flow. We believe that this signal is the motion artifact and call it the noise reference signal. The motion artifacts are removed by subtracting the noise reference signal from the input signal. We apply this algorithm to the system, so we can stabilize the biomedical monitoring system we designed.