• Journal of Drive and Control
• /
• v.18 no.4
• /
• pp.77-83
• /
• 2021

With the progress in virtual reality technology, various virtual objects can be displayed using head-mounted displays (HMD). However, force feedback sensations such as pushing against a virtual object are not possible with an HMD only. Focusing on force feedback, desktop-type devices are generally used, but the user cannot move in a virtual space because such devices are fixed on a desk. With a wearable force feedback device, users can move around while experiencing force feedback. Therefore, the authors have developed a wearable force feedback device using a magnetorheological fluid clutch and pneumatic rubber artificial muscle, aiming at presenting the elasticity, friction, and viscosity of an object. To date, we have developed a wearable four-degree-of-freedom (4-DOF) force feedback device and have quantitatively evaluated that it can present commanded elastic, frictional, and viscous forces to the end effector. However, sensory evaluation with a human has not been performed. In this paper, therefore, we conduct a sensory evaluation of the proposed method. In the experiment, frictional and viscous forces are rendered in a virtual space using a 4-DOF force feedback device. Subjects are asked to answer questions on a 1- to 7-point scale, from 1 (not at all) to 4 (neither) to 7 (strongly). The Wilcoxon signed rank test was used for all data, and answer 4 (neither) was used as compared standard data. The experimental results confirmed that the user could feel the presence or absence of viscous and frictional forces. However, the magnitude of those forces was not sensed correctly.

• Korean Journal of Child Studies
• /
• v.35 no.5
• /
• pp.63-82
• /
• 2014

The purpose of this study is to elucidate how two young children understand force in rough-and-tumble play. For this purpose, a form of microanalysis(Forman, 2006) was used. They regarded black as the strongest color due to their daily experiences. They assumed that a structure made of black Lego-color-bricks would be strongest and made an experiment of beating it against blocks of other colors. Such repetitive behavior ultimately led them to realize that color had no correlation with strength. They also understood mechanical energy by which a boy's pushing power moves against an object. They tried to strike a bigger or protruding structure and understood that parts might be broken more easily by striking. This experience enabled the boys to realize the principle of resistance. That is to say, in the process of rough-and-tumble play, their misconceptions were gradually removed and they obtained scientific knowledge, including understanding of mechanical energy and the principle of resistance. This study found that two young children constructed knowledge together through the process of tool making and in contending for victory in rough-and-tumble play.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.1
• /
• pp.213-226
• /
• 2008

E. H. KIM, E. S. CHOI, D, H. NAM, S. S. KIM, J. W. CHUNG and T. W. KIM, The Instrumenfal Development for Pulling . Reaping Training & Measuring in Judo.Korean Jiurnal of Sport Biomechanics, Vol. 18, No. 1, pp. 213-226, 2008. The purpose of this study was to develop a judo-doll uke(partner : doll-uke) for training and measurement applicable to pulling, pushing and reaping in judo. In Judo the most common techniques consist of the pulling, pushing and sweep which all need to be practiced with a partner. So the research needs to develop a measurement system that can be used to evaluate the forces involved with these techniques. Also the Doll-Uke must be developed so that judokas can train alone. After the manufacture of Doll-Uke the usefulness of it must be evaluated. The height of a Doll-Uke is l70cm and its weight is 50kg. Doll-Uke was developed with a trunk angle of 55 and the lower extremities of an angle of 45. The Doll-Uke can also measure the forces developed during the pulling, pushing and sweep. Due to the ability of the system to measure the forces while preforming Judo techniques feedback can be provided to the Judokas to improve their performance.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.1029-1037
• /
• 2008

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.12
• /
• pp.1893-1899
• /
• 2010

A foxtail moves forward on a flat surface when pushed by a vertical force. The distance moved by the foxtail depends on the degree of deformation. We experimentally investigated the main parameters that influence the distance moved while varying the pushing force, area, and velocity. We then fabricated a nylon barb that mimics the foxtail barb and performed theoretical and experimental analyses of the displacement according to the acting force and the deflection. In addition, we investigated the relation between the displacement and the angle of a foxtail-like robot's leg by varying the clearance between the robot body and the inner surface of the pipe. To find the design parameters of the barb of the robot for tubular-type digestive organs and blood vessels, we studied the relation between the acting force and the elastic modulus while varying the leg diameter.

• Journal of the Korea Institute of Building Construction
• /
• v.15 no.5
• /
• pp.473-481
• /
• 2015

The purpose of this research is to comprehend experimentally the characteristics of human strength for using as the basic data of impact resistance test method of lightweight wall. Human motions exerting static load are classified to 4 types. Pushes with two hands or shoulder are defined as the instantaneously forcing motions with hands or shoulder put on the force plate. Leanings back or one-hand against the wall are defined as motions of taking a rest in their respective comfortable posture. Human motions exerting dynamic load are classified to 3 types. Selecting 3 levels of motion strength (weak, middle, strong), 3 levels of force plate stiffness (A: 20kN/cm, B: 4.7kN/cm, C: 2.2kN/cm), and 30 male subjects, load was measured when they applied strength to the force plate. Results of this research are as follows: (1) The maximum load ratio (Pmax/W) of static load for each motion was 1.17-1.25 in two hands pushing, 0.95-0.99 in shoulder pushing, 0.16-0.18 in back leaning, and 0.12-0.15 in one hand leaning. (2) Human dynamic load and object collision were different in the load characteristics. (3) The maximum load ratio of dynamic load for each motion was 10.07 in heel kick, 4.46 in shoulder hitting, and 5.58 in fist blow.

• Korean Journal of Applied Biomechanics
• /
• v.24 no.4
• /
• pp.349-357
• /
• 2014

The purpose of this study was to examine the differences in the performance of dancing motions depending on the level of skill by investigating pulmonary functions, ground reaction force, and jerk cost. The subjects of this study were 12 professional dancers (career: 16 yrs) and 12 amateur dancers (career: 9 yrs) who had similar physical conditions. We selected four motion phases which included the diagonal line motion, the deep flexion motion, the breath motion, and the turn motion with one leg after a small step walking motion, with Goodguri Jangdan. In the experiment, 6 infrared cameras were installed in order to analyze the value of the jerk costs and the force plate form. Finally, we measured the pulmonary functions of the subjects. For data analysis, independent t-tests according to each event, were carried out in the data processing. According to the results of FVC % Predicted, the professional dancers showed greater lung capacities than the amateur dancers, indicating that the level of dancing skill influences lung capacity. Based on the result of the balance test, the professional dancers used more vertical power than did the amateur dancers when performing maximal flexion motion. The professional dancers used a propulsive force of pushing their body forward by keeping the center of body higher while the amateur dancers used a braking power by keeping their bodies backward. When performing medial-lateral movements, the amateur dancers were less stable than the professional dancers. There were no differences in values of jerk costs between the amateur dancers and the professional dancers.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2008.10a
• /
• pp.83-86
• /
• 2008

In this study, friction test was proposed to obtain coefficient of friction between tube and die in guide zone of tube hydroforming and friction coefficients were evaluated at different materials, viscosity of lubricants and internal pressures. For this study, STKM11A and SUS tubes were prepared. The tube was expanded by an internal pressure against the tool wall. By pushing the tube through the tool, a friction force at the contact surface between the tube and the tool occurs From the recorded axial feeding forces, the friction coefficients between tube and die at the guide zone in tubular hydroforming can be estimated. The effects of the various internal pressures, viscosity of lubricants, tube materials, tube size and die coating on the friction forces and friction coefficients are discussed.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2008.10a
• /
• pp.359-362
• /
• 2008

In this study, friction test was proposed to obtain coefficient of friction between tube and die in expansion zone of tube hydroforming and friction coefficients were evaluated at different materials, viscosity of lubricants and internal pressures. For this study, STKM11A and SUS tubes were prepared. The tube was expanded by an internal pressure against the tool wall. The tube was expanded by an internal pressure against the tool wall. By pushing the tube through the tool, a friction force at the contact surface between the tube and the tool occurs. From the measured geometries and FE analysis, the friction coefficients between tube and die at the expansion zone in tubular hydroforming can be estimated. The effects of the various internal pressures, viscosity of lubricants, tube materials and tube thickness on friction coefficients are discussed.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
• /
• v.14 no.7
• /
• pp.578-583
• /
• 2001

The bushing for high voltage and large and power should endure weight of itself and force of pushing from contact with circuit breaker. Like this, epoxy mold bushing has to be strong without fault. However, the external circumstances and internal factors was caused by partial discharge, flashover and dielectric breakdown. Therefore, to remove external factor of defect and to prevent the internal cracks and cavity generated from the contraction on interface of Cu-Epoxy, we should form semi-conductive layer on Cu bar by carbon. Then, the PD properties and the insulation qualities of epoxy mold type bushing was able to improved by roles of cushions for the direction of diameter and by effects fo natural sliding like as separated from conductor for the direction of length. So, in this work, we could prove the method of semi-conductive layer in making the long conductor.