• Journal of the Korean Society for Precision Engineering
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• v.34 no.2
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.5
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• pp.764-771
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• 2003

To control the motion generated by a compliant mechanism the design method using specified geometrical advantage is proposed. The optimization problem is formulated to minimize the difference between the specified and the current geometrical advantage of a mechanism and topology optimization is applied to determine the layout of a mechanism. The results of several test problems including a displacement converter design and a gripper design are compared with a multi-criteria model and show that the design of an accurate compliant mechanism with specified geometrical advantage can be obtained.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.9
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• pp.1779-1786
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• 2002

When the topology optimization is applied to the design of compliant mechanism, unexpected displacements of input and output port are generated since the displacement control is not included in the formulation. To devise a more precise mechanism, displacement constraint is formulated using the mutual potential energy concept and added to multi-objective function defined with flexibility and stiffness of a structure. The optimization problem is resolved by using Finite Element Method(FEM) and Sequential Linear Programming(SLP). Design examples of compliant mechanism with displacement constraint are presented to validate the proposed design method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• Journal of the FoodService Safety
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• v.2 no.2
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• pp.103-110
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• 2021

This study was conducted to compare and evaluate the difference in washing and disinfection when the Hazard Analysis and Critical Control Point (HACCP) protocol was applied to foodservice operations. The results of the survey were as follows: Among the 116 foodservice operations surveyed, 67.2% were HACCP-compliant and 32.8% were not HACCP-compliant. Also, 62.9% served meals once daily, and 79.3% conducted food safety education once a month. Compared to HACCP non-compliant foodservice operations, the disinfection performance of HACCP-compliant operations was significantly better concerning worktables (p<0.001), food inspection tables (p<0.001), preparation tables for distribution (p<0.01), serving tables (p<0.01), overflow and trenches(p<0.05), sinks (p<0.05), and insect attracting lamps (p<0.01). Similarly, the disinfection performance of HACCP-compliant foodservice operations was significantly better for 18 cooking utensils and personal tools such as food slicers (p<0.001), multiple cooking machines (p<0.05), tray carts (p<0.001), stainless steel tools (p<0.001), rubber gloves (p<0.05). Worktables (45.1%), serving tables (29.6%), sinks (37.0%), and scales (21.6%) were most often disinfected 'at the end of each task', while food inspection tables (36.5%), food preparation tables for distribution (31.2%), dish machines (34.2%), overflow and trenches (25.7%), and floors (25.8%) were most often disinfected 'once a day'. All cooking utensils were most often disinfected 'at the end of each task'. 'Chemical disinfection' was most frequently used in all foodservice facilities. To improve the food safety management of foodservice operations, it is necessary to apply the HACCP protocol and comply with the washing and disinfection manual.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• Journal of Korean Clinical Nursing Research
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• v.15 no.3
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• pp.5-16
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• 2009

Purpose: This study was done to provide effective nursing interventions using an individualized educational program designed to contribute to the knowledge, compliance and physiologic parameters (serum potassium, phosphorus and interdialytic weight gain) of non-compliant hemodialysis patients. Methods: There were 22 participants in the experimental group and 19 in the control group. Nurses with rapport with patients provided education to non-compliant hemodialysis patients for 20 minutes three times a week for six weeks. This education program consisted of individual consulting, telephones conversations regarding hemodialysis, and requests for patient support from patients' families and colleagues. Results: Hypothesis 1; "Knowledge about hemodialysis in the experimental group will be higher than the control. group" was not supported. Hypothesis 2; "Compliance will be higher in the experimental group than in the control group", and Hypothesis 3; "Physiologic parameters of experimental group will improve" were supported as serum potassium and interdialytic weight gain decreased, but results were not consistent for phosphorous. Conclusion: This program for non-compliant patients increased compliance and improved physiologic parameters. Therefore, this educational program should be effective as a nursing intervention.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.32-32
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• 2000

We present CReMeS, a CORBA-compliant design and implementation of a new real-time communication service. It provide for of a new real-time communication service. It provide for efficient, predictable, and scalable communication between information producers and consumers. Experimental results demonstrate that CReMeS can achieve better performance, predictability and scalability than a Real-Time implementaion of the CORBA Event Service.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.12
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• pp.1281-1286
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• 2013

In this paper, a miniaturized stage with two prismatic-prismatic joints (2-PP) type parallel compliant mechanism driven by piezo actuators is proposed. This stage consists of two layers which are a motion guide layer and an actuation layer. The motion guide layer has 2-PP type parallel compliant mechanism to guide two translational motions, whereas the actuation layer has two leverage type amplification mechanisms and two piezo actuators to generate forces. Since the volume of the stage is too small to mount displacement sensors, the piezo actuators embedding strain gauge sensors are chosen. With the strain gauge-embedded piezo actuators, a semi-control is implemented, which results in hysteresis compensation of the stage. As the results, the operating range of $30{\mu}m$, the resolution of 20 nm, and the bandwidth of 400 Hz in each axis were obtained in the experiments.