• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.964-969
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• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• Design & Manufacturing
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• v.17 no.4
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• pp.8-13
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• 2023

In this study, it was studied whether a new measurement factor "frictional vibration" that occurs due to the material flow of the die and sheet metal in the flange area during deep drawing process, could be measured using an vibration sensor. The blank holder force acting on the flange area during drawing processing acts as a friction force in the opposite direction into which the sheet material flows and causes friction vibration. As the blank holder force increases, the friction force increases, and as the blank holder force decreases, the friction force also decreases. Because of this, friction vibration also increases and decreases in proportion to the size of the blank holder force. According to this theory, whether frictional vibration occurs was measured using a flange simulator and a vibration sensor. The initial pressure was created using a torque wrench, and it was confirmed that the amplitude increased by about 4 times when torque 6 Nm was increased. When the forming velocity was rapidly changed to 300 mm/min, the amplitude increased approximately 4 times. It was confirmed that the amplitude of frictional vibration according to the measurement location was greater the further away from the specimen. It was verified that a new measurement factor "friction vibration" in the flange area can be measured and used for online monitoring.

• Journal of Korean Dental Science
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• v.11 no.1
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• pp.5-13
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• 2018

Purpose: Surface treatment with pH buffering agent has been developed to achieve higher and faster osseointegration. The aim of this study was to evaluate its influence by measuring removal torque and analyzing histological characteristics. Materials and Methods: Titanium implants with following surfaces were used in this study: sand-blasted acid-etched (SA) surface (SA group as control I group), SA surface in calcium chloride aqueous solution (CA group as control II group) and SA surface coated with pH buffering agent (pH group as test group). Removal torque test after 2 weeks and bone-to-implant contact and bone area analyses at 2 and 4 weeks were performed. Result: The rotational torque values at 2 weeks were significantly higher in pH group ($107.5{\pm}6.2Ncm$, P<0.05). The mean values of bone-to-implant contact at 2 and 4 weeks were both higher in pH group ($93.0%{\pm}6.4%$ at 2 weeks, $88.6%{\pm}5.5%$ at 4 weeks) than in SA group ($49.7%{\pm}9.7%$ at 2 weeks, $47.3%{\pm}20.1%$ at 4 weeks) and CA group ($73.7%{\pm}12.4%$ at 2 weeks, $72.5%{\pm}10.9%$ at 4 weeks) with significances (P<0.05). The means of bone area showed significantly higher numbers in pH group ($39.5%{\pm}11.3%$ at 2 weeks, $71.9%{\pm}10.9%$ at 4 weeks, P<0.05). Conclusion: Our findings demonstrated that surface modification with pH buffering agent improved early osseointegration with superior biomechanical property.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.67-73
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• 2013

This experimental work described the effect of flow control valve type on the performance of wobble plate type fuel pump for the stable DME fuel supply. In order to study this, different four types of flow control valves (ITV, SCV, IMV and MPROP) were installed on the wobble plate fuel pump, and fuel flow rate, torque, and temperature variation of pump were investigated under various operating conditions by using pump performance test system. It was revealed that wobble plate type fuel pump worked well with ITV and SCV control valve, and the flow rate and torque of fuel pump was in proportion to the value of valve open duty. The maximum flow rate and torque of fuel pump were achieved around the 50% duty of control valve. Temperature variation at all pump measuring points were under $60^{\circ}C$ which is acceptable.

• Korean Journal of Agricultural Science
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• v.46 no.3
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• pp.613-627
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• 2019

The purpose of this study was to design a powertrain for a 78 kW AWD (all wheel drive) electric tractor by analyzing the combination of various reduction gear ratios on a commercial motor using data from actual agricultural work and driving conditions. A load measurement system was constructed to collect data using wheel torque meters, proximity sensors, and a data acquisition system. Field experiments for measuring load data were performed for two environmental driving conditions (on asphalt and soil) and four agricultural operations (plow tillage, rotary tillage, loader operation, and baler operation). The attached implements and gear stages were selected through farmer surveys. The range of the reduction ratio was determined by selecting the minimum reduction ratio needed to satisfy the torque condition required for agricultural operations and the maximum reduction gear ratio to satisfy the maximum travel speed. The minimum reduction gear ratio selected was 57 in consideration of the working load condition and the maximum reduction gear ratio selected was 62 considering the maximum running speed. In the range of the reduction gear ratio 57 - 62, the selected motor satisfied all working torque conditions. As a result, the combination of the selected motor and reduction gear ratio was applicable for satisfying the loads required during agricultural operation and driving operation.

• The Journal of Korean Academy of Prosthodontics
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• v.50 no.2
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• pp.128-134
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• 2012

Purpose: The purpose of this study was to compare the screw joint stability between the CADCAM custom-made implant abutment and the prefabricated implant abutment by measuring the reverse torque value after cyclic loading. Materials and methods: Twelve screw type implants (Implantium, Dentium Co., Seoul, Korea) were embedded in aluminum cylinder with acrylic resin. The implant specimens were equally divided into 3 groups, and connected to the prefabricated titanium abutments (Implantium, Dentium Co., Seoul, Korea), CADCAM custom-made titanium abutments (Myplant, Raphabio Co., Seoul, Korea) and CADCAM custom-made zirconia abutments (Zirconia Myplant, Raphabio Co., Seoul, Korea). The CAD-CAM milled titanium crown (Raphabio Co., Seoul, Korea) was cemented on each implant abutment by resin cement. Before cyclic loading, each abutment screw was tightened to 30 Ncm and the reverse torque value was measured about 30 minutes later. After the crown specimen was subjected to the sinusoidal cyclic loading (30 to 120 N, 500,000 cycles, 2 Hz), postloading reverse torque value was measured and the reverse torque loss ratio was calculated. Kruskal-Wallis test was used for statistical analysis of the reverse torque loss ratio. Results: The CADCAM custom-made titanium abutments presented higher values in reverse torque loss ratio without statistically significant differences than the prefabricated titanium abutments ($P$>.05). Reverse torque loss ratio of the custom-made zirconia abutments was significantly higher compared to that of the prefabricated titanium abutments ($P$=.014). Conclusion: Within the limitation of the present $in-vitro$ study, it was concluded that there was no significant difference in screw joint stability between the CADCAM custom-made titanium abutments and the prefabricated titanium abutments. On the other hand, the CADCAM custom-made zirconia abutments showed lower screw joint stability than prefabricated titanium abutments.

• The korean journal of orthodontics
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• v.38 no.5
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• pp.328-336
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• 2008

Objective: The purpose of this study was to compare the torque resistance to removal of sandblasted large grit and acid etched (SLA) surface treated orthodontic mini-implants and smooth surface orthodontic mini-implants as well as performing histologic observations. Methods: Two groups of custom screw shaped orthodontic mini-implants (C-implant, 1.8 mm outer diameter $\times$ 9.5 mm length, Cimplant, Seoul, Korea) were designated. 22 SLA treated C-implants (SLA group) and 22 machined surface C-implants (machined group) were placed in the tibia metaphysis of 11 adult New Zealand white rabbits. Following a 6-week healing period, the rabbits were sacrificed. Subsequently, the C-implants were removed under reverse torque rotation with a digital torque measuring device and independent t-test was performed. Selected tissues were prepared for histologic observation. Results: The SLA group presented a higher mean removal torque value (6.286 Ncm) than the machined group (4.491 Ncm) which was statistically significant (p < 0.005). Histologic observation revealed a trend of more new bone formation in contact with the screw surface in the SLA group than the smooth group. Conclusions: The results of this study suggested that SLA surface treatment can enhance the osseintegration potential for C-orthodontic mini-implants.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.4
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• pp.429-435
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• 2020

Different methods are used for determining the output of engines to obtain the indicated horsepower by measuring the combustion pressure of cylinders, and to obtain the shaft horsepower by measuring the shaft torque. It is difficult to examine the shaft torque using the condition of the cylinder, and the most accurate method used for determining the combustion pressure involves examining the combustion state of the cylinder to evaluate the engine performance and analyze the combustion of the cylinder. During the measurement, the combustion pressure is the most important parameter used for accurately determining the cylinder angle because the cylinder pressure is indicated based on the angle of the crankshaft. In this study, an encoder was used as the crank angle sensor to measure the cylinder pressure on the generator engine of the actual operating ship. The reasons for the differences between the top dead center (TDC) recognized by the encoder (TDC_encoder) and the TDC recognized by the compression pressure (TDC_comp) were considered. The dif erences between the TDC_comp and TDC_encoder of the cylinders measured at idle running, 25 %, 50 %, and 60 % loads were analyzed to determine for the crankshaft production effect, the crankshaft torsion effect owing to the increased rotational resistance from the increased load, and the coupling damping effect between the engine and generator. It was confirmed that the TDC error occurred up to 3° crank angle as the load of the generator increased.

• Journal of Periodontal and Implant Science
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• v.46 no.4
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• pp.254-265
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• 2016

Purpose: The aim of this study was to determine the influence of anatomical conditions on primary stability in the models simulating posterior maxilla. Methods: Polyurethane blocks were designed to simulate monocortical (M) and bicortical (B) conditions. Each condition had four subgroups measuring 3 mm (M3, B3), 5 mm (M5, B5), 8 mm (M8, B8), and 12 mm (M12, B12) in residual bone height (RBH). After implant placement, the implant stability quotient (ISQ), Periotest value (PTV), insertion torque (IT), and reverse torque (RT) were measured. Two-factor ANOVA (two cortical conditions${\times}$four RBHs) and additional analyses for simple main effects were performed. Results: A significant interaction between cortical condition and RBH was demonstrated for all methods measuring stability with two-factor ANOVA. In the analyses for simple main effects, ISQ and PTV were statistically higher in the bicortical groups than the corresponding monocortical groups, respectively. In the monocortical group, ISQ and PTV showed a statistically significant rise with increasing RBH. Measurements of IT and RT showed a similar tendency, measuring highest in the M3 group, followed by the M8, the M5, and the M12 groups. In the bicortical group, all variables showed a similar tendency, with different degrees of rise and decline. The B8 group showed the highest values, followed by the B12, the B5, and the B3 groups. The highest coefficient was demonstrated between ISQ and PTV. Conclusions: Primary stability was enhanced by the presence of bicortex and increased RBH, which may be better demonstrated by ISQ and PTV than by IT and RT.

• Journal of Periodontal and Implant Science
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• v.50 no.1
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• pp.56-66
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• 2020

Purpose: A stability-measuring device that utilizes damping capacity analysis (DCA) has recently been introduced in the field of dental implantology. This study aimed to evaluate the sensitivity and reliability of this device by measuring the implant stability of ex vivo samples in comparison with a resonance frequency analysis (RFA) device. Methods: Six implant beds were prepared in porcine ribs using 3 different drilling protocols to simulate various implant stability conditions. Thirty-six pork ribs and 216 bone-level implants measuring 10 mm in height were used. The implant beds were prepared using 1 of the following 3 drilling protocols: 10-mm drilling depth with a 3.5-mm-diameter twist drill, 5-mm drilling depth with a 4.0-mm-diameter twist drill, and 10-mm drilling depth with a 4.0-mm-diameter twist drill. The first 108 implants were external-connection implants 4.0 mm in diameter, while the other 108 implants were internal-connection implants 4.3 mm in diameter. The peak insertion torque (PIT) during implant placement, the stability values obtained with DCA and RFA devices after implant placement, and the peak removal torque (PRT) during implant removal were measured. Results: The intraclass correlation coefficients (ICCs) of the implant stability quotient (ISQ) results obtained using the RFA device at the medial, distal, ventral, and dorsal points were 0.997, 0.994, 0.994, and 0.998, respectively. The ICCs of the implant stability test (IST) results obtained using the DCA device at the corresponding locations were 0.972, 0.975, 0.974, and 0.976, respectively. Logarithmic relationships between PIT and IST, PIT and ISQ, PRT and IST, and PRT and ISQ were observed. The mean absolute difference between the ISQ and IST values on a Bland-Altman plot was -6.76 (-25.05 to 11.53, P<0.05). Conclusions: Within the limits of ex vivo studies, measurements made using the RFA and DCA devices were found to be correlated under a variety of stability conditions.