• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.555-559
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• 2007

There are few representative humanoid robots including Japanese ASIMO from Honda and HUBO from KAIST. We cannot consider ASIMO and HUBO the perfect humanoid robots, however. The basic principles when developing humanoid robot is to make them to work in a similar way as human's movement of arm. In this paper, we proposed method of designing humanoid robotic arms based on the morphological.eurological analysis of human's arm tor robot's arm to work in a similar way as human's ann, and we also implemented arm movement control system to humanoids robot by using SERCOS communication.

• Journal of the Korean Society of Costume
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• v.56 no.7 s.107
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• pp.33-45
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• 2006

This study was to provide the fundamental data for a scientific and rational clothing construction by investigating the length variation of the upper arm surface, using the method of surgical tape, and to understand the expansion and contraction of parts of body for the making of clothing adaptable to movement. The subjects were li early elementary schoolgirls in Busan area classified with three somatotypes, and arm-movements consisted of 6 types. The statistical analyses used in this study were mean, standard deviation and the ANOVA and LSD procedure. The results of the analysis of the length of the upper arm surface are as follows: By arm-movements, in the items of horizontal, upper arm length changed more in the front than in the back, and in the items of vertical, represented the opposite of horizontal items. In the items of upper arm, the anterior-posterior axilla length and under arm length were influenced by arm-movements, and the under length of the upper arm represented the maximum rate increase of 74.59%(3.20cm)$\sim$138.72%(4.28cm). In the somatotypes of early elementary schoolgirls, type II was more influenced by arm-movements, and for the making of clothing adaptable to movement, type III needed to reflect more surplus length(2cm) than the other types.

• Journal of Physiology & Pathology in Korean Medicine
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• v.25 no.1
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• pp.8-18
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• 2011

To have effective treatment for shoulder arm pain, we searched the cause, symptom, etiology, classification of the pain areas, acupuncture points, and muscles along the meridians, and acquired the following results. Shoulder-pain is mainly divided into the malfunction of viscera and entrails, damage due to the weakness of essence and qi, abnormal status of muscle function, change of joints, disease in the nerve and vessel, and the internal injury due to seven modes of emotions. Pain of shoulder joints are pain in the local area of shoulder joints, referred pain of shoulder, neck, and shoulder-arm, numbnes and swelling of muscle, and muslce weakness. Shoulder-arm pain is classified as four types of pain: shoulder-joint pain, shoulder-back pain, shoulder-chest pain, and shoulder-arm-elbow pain. And shoulder-arm-elbow pain is again divided into the shoulder-blade pain, shoulder-arm pain, shoulder-elbow pain. The related meridians on shoulder pain are the three yin meridians of hand, Kidney Meridian, Conception Meridian, three yang meridians of hand, Bladder Meridian, Governor Meridian Acupuncture points for shoulder pain are in the acupuncture points of the 10 meridians and a-shi points. Thre related meridian muscles on shoulder-pain are the three yin and yang meridians of hand, and their related muscles are the ones that are connected with the front, back, and chest side muscles of shoulder joints, and the ones that are connected with the front and back side muscles of arm.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.4
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• pp.31-39
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• 2004

The ARM7 TDMI microprocessor employ a software routine iteration method in order to handle integer division operation, but this method has long execution time and many execution instruction. In this paper, we proposed ARM7 TDMI microprocessor with integer division instruction. To make this, we additionally defined UDIV instruction for unsigned integer division operation and SDIV instruction for signed integer division operation, and proposed ARM7 TDMI microprocessor data Path to apply division algorithm. Applied division algorithm is nonrestoring division algorithm and additive hardware is reduced using existent ARM data path. To verify the proposed method, we designed proposed method on RTL level using HDL, and conducted logic simulation. we estimated the number of execution cycles and the number of execution instructions as compared proposed method with a software routine iteration method, and compared with other published integer divider from the number of execution cycles and hardware size.

• ETRI Journal
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• v.40 no.5
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• pp.653-663
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• 2018

Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding-mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding-surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.

• Journal of the Korean Society of Clothing and Textiles
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• v.10 no.3
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• pp.17-25
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• 1986

The objectives of this study are to investigate the variation of the sleeve form by changing arm movements and to study the relationship among the three aspects of sleeve (sleeve height, width and armhole girth) by changing arm movements. Plasrun gyps were used for this experimental research. The subjects of this study were elementary schoolgirls (9$\~$12 years old). Arm mevements were 4 types($0^{\circ},\;45^{\circ},\;90^{\circ},\;135^{\circ}$) to the vertical directions. The statistical methods used to analyze the data included mean, standard deviation, the Pearson's correlation coefficients and coefficients of determination. The results obtained from this study were as follows; 1. According to the arm movements, the sleeve form changed more in the front than in the back. 2. As the arm movements were increased vertically, the heights of sleeves and the girths of the armholes were decreased, and the widths of sleeves were increased. 3. Variation rates by changing arm movements were different according to the variation of arm movement, and were the highest in sleeve height. 4. There was a negative correlation between sleeve height and width, and a positive correlation between sleeve height and armhole girth.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1119-1127
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• 2012

In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.24-31
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• 2006

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.4
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• pp.615-620
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• 2017

In this study, we have developed the resistive leakage current detecting and tripping circuit breaker based on a 32bit ARM processor. The developed leakage circuit breaker can be operated in a desired trip threshold within 0.03 seconds as specified in KS C 4613. This resistive leakage current breaker is expected to be applicable as a circuit breake for prevention of electric fires and electric shock in smart distribution panel.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.275-276
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• 2006

An intelligent arm-wrestling system is recently developed in our laboratory that is comprised of an arm-force generation mechanism and a control system that detects the maximum arm-force of a user in the early stage of the match, generates a different game scenario each time, and executes force feedback control to implement the scenario. This paper presents the mathematical model of the force control system of the intelligent arm-wrestling system, and some improvements of it via experimental frequency responses using a control signal analyzer.