• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.527-528
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• 2011

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.455-456
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• 2011

• 대한기계학회논문집A
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• 제24권8호
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• pp.2065-2073
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• 2000

In this paper, we present a wall climbing robot whose gate pattern takes after those of specialized climbing animals such as spiders. Characteristic features of the biological locomotion are partly realized in the design of the mechanism. The robot has two legs and a trunk. Each one-dof leg with suction pads is driven by a motor which employs a closed loop linkage mechanism, and the trunk with suction pads steers the whole body of the robot using a motor. By generating adequate trajectories of the leg and simultaneously alternating the suction pattern between the legs and the trunk, we can achieve the spider like motion. The proposed idea is implemented in a robot and some tests are performed to evaluate its performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

• 문화기술의 융합
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• 제8권5호
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• pp.749-754
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• 2022

다양한 의료 응용 분야에서 웨어러블 및 피부 부착형 전자 패치에 피부 표면의 높은 접착력과 내수성이 요구된다. 본 연구에서는 탄소 기반 전도성 고분자 복합 소재에 개구리 발바닥의 육각 채널와 문어 빨판의 흡착 구조 패턴을 모사한 신축성 있는 전자 패치를 보고한다. 개구리의 발바닥을 모사한 육각 채널 구조는 수분을 배수하며, 균열억제 효과를 통해 점착력을 향상 시키며, 문어 빨판을 모사한 흡착 구조는 젖은 표면에서 높은 점착력을 나타낸다. 또한 고점착 전자패치는 실리콘(max. 4.06 N/cm²), 피부 복제 표면(max. 1.84 N/cm²) 등 다양한 표면에 건조 및 젖은 조건에서 우수한 접착력을 가지고 있다. 고분자 매트릭스와 탄소 입자를 기반으로한 고분자 복합소재를 통해 제작된 고점착 전자 패치는 건조 및 습한 환경에서 심전도(ECG)을 안정적으로 감지할 수 있다. 이 연구에서 보여진 특성을 기반으로 제안된 전자 패치는 다양한 생체 신호의 진단을 위한 웨어러블 및 피부 부착 센서 디바이스를 구현하는 잠재적 응용 가능성을 제시한다.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제30권1호
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• pp.22-29
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• 2008

Purpose: The purpose of this study is to test the efficacy of various methods of fat harvesting in animal model by viability comparison with assay including cell counting, MTT assay, and histologic evaluation. Materials and methods: New Zealand white rabbits experiments were used. Groin fat pads were subjected to different harvest method varying ingredients of solution(Experiment 1: T1 solution= lidocaine 1000mg/L, epinephrine 1mg/L, sodium bicarbonate 10mgEq/L, Triamcinolone 10mgEq/L; T2 solution=lidocaine 1000mg/L, epinephrine 1mg/L, sodium bicarbonate 0mgEq/L, Triamcinolone 0mgEq/L) and pressure exerted on harvesting with Luer-Lock syringe connected to suction cannula.(Experiment 2: P1 group=3cc intermittent pressure; P2 group=10cc sustained pressure) Fat cell viability was assessed with cell counting with a hemocytometer, MTT assay, and histologic evaluation. Results: Experiment 1 Cell count: T1=2.4/3.4/4.2, T2=9.6/8.4/7.2($\times10^5$ per mL); MTT assay: T1=0.516/0.41/0.453/0.412/0.421, T2=0.925/0.765/0.54/0.634/0.614 in 21 days(absorbance); Histology: T1 showed elongated and, different in size and shape, and ruptured adipocytes with only a few normal adipocytes whereas T2 showed central core of fat with almost intact fat cells Experiment 2 Cell count: P1=1.2/3.2/4.2, P2=1.2/2.4/3.8($\times10^5$ per mL); MTT assay:P1=0.256/0.245/0.258/0.21/0.264, P2=0.12/0.231/0.245/0.313/0.281 in 21 days(absorbance); Histology: P1 showed somewhat evenly distributed normal-looking fat cells and P2 showed relatively irregular shape of fat cells with small blood vessel amongst adiopocytes. Conclusion: Viability was higher in ‘modified tumescent solution’without sodium bicarbonate and triamcinolone and we also found no significantly different viability between using intermittent pressure and using sustained pressure. But in terms of initial viability of fat cell, we can assume that lower intermittent pressure would make better clinical results.