• 한국정밀공학회지
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• 제14권1호
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• pp.78-83
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• 1997

The paper presents the experimental analysis of a Stewart platform-based force-torque senor. The closed-form solution of forward kinematics of the Stewart platform is derived approximately by way of a linearization technique, and the solution is used in the force analysis of the force-torque sensor. An exper- mental studies show that the proposed method including gravity compensation algorithm is valid for Stew- art platform-based force-torque sensors. The performance of the developed force-torque sensor is evaluated in view of accuracy and linearity in measurements.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• 한국운동역학회지
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• 제23권2호
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• pp.125-130
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• 2013

Although the electronic body protector has been officially adopted by the World Taekwondo Federation(WTF) in 2006, no scientific information is available about the reliability of its performance. The purpose of this study, therefore, was to investigate the relationship between the impact value of electronic body protector and the impact force of force platform. Male collegiate Taekwondo athletes([MCTA], n=21) and male collegiate Taekwondo students([MCTS], n=20) volunteered to participate in the study. Each subject performed the apchagi, dollyeochagi and dwichagi on the force platform and the electronic body protector. At the apchagi, it showed that MCTS(about 4,700 N) generated more maximum kick force than MCTA(about 3,900 N), but it expressed that MCTA(about 5,300 N) generated more maximum kicking force than MCTS(about 4,400 N) at the dwichagi. At the apchagi and the dwichagi, it indicated the high coefficient of correlation(over r=.8) which supports higher explanation force the relationship between the impact value of electronic body protector and the impact force of force platform, but there was no statistically significant difference at the dollyeochagi.

• 한국운동역학회지
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• 제14권2호
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• pp.57-68
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• 2004

This study was to evaluate the consistency of the vertical force($F_z$) of the force platform and the impact force. Two experiments were performed. First, the force platform was vertically placed to hang to the wall. While the rotating iron body hit the force platform, $F_z$ was measured. Then $F_z$ was compared with the impact force of the rotating iron body that was precalculated by using the inertia moments and the rotating force. Second, six Taekwondo masters punched the force platform to show what a certain pattern the impart force has. They were asked to punch the target depending on target distances. The target distances were differed from the relative arm segment of subjects as 90%, 80%, 70%, 60%, and 50% (100% target distance equals the aim length of each subject). Pearson's correlations were used between $F_z$ and the impact force. Also the linear regression was also performed to show the linearity. At the first experiment, $F_z$ and the impact force had much correlations and showed linear characteristics. Therefore, $F_z$ could be regarded as the impact force. At the second experiment, the strongest impact force was measured at the target distance of 80% and the time taken to the maximum impact force was within 0.02 seconds. The result of this study recommends that it can help the comparative study between the impact forces and other hitting sports.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.175-178
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• 1997

This study was carried out to obtain an analytical expression for the specifications of the Stewart Platform that minimize the maximum force acting on the hydraulic cylinder. The position and orientation of the platform were calculated by means of the inverse kinematic analysis. The maximum force to be exerted on a cylinder was calculated using the Newton's second law for the case when the platform is moved along a horizontal axis with 0.6 g, the maximum translational acceleration possible. This paper suggests a mathematical model to minimize the maximum actuating force using radius and angle ratios as design variables. Finally, a fuzzy set for the minimum actuating force is proposed for this dynamic optimal design problem.

• 한국안전학회지
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• 제27권5호
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• pp.1-8
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• 2012

The purpose of this study were to evaluate the dynamic characteristics of the portable slipmeters with respect to actual slipping and to compare their output with those of force platform. The selected slipmeters were commonly used devices for slipperiness measurement in situ floors. Their output quantity represented force (BOT-3000), loss of energy(British pendulum striker) and angle of inclination(English XL). The validity of these devices was studied with respect to actual slipping using a force platform. The precision of these devices was also evaluated with force platform. Based on dynamics of human subject behavior when slipping during normal walking, the all devices tested in this study showed poor performances: low built up ratio, low normal pressure, and long contact time prior to slip. Nevertheless, their results reasonably correlated with those calculated from the ground reaction forces generated by the operation of the selected slipmeters on the force platform although the absolute values of COF from these three devices could be quite different. Also the results showed good repeatability under the some test conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1513-1518
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• 1996

A force reflecting hand controller can be used to provide more realistic information to the operator of a teleoperation system such as kinesthetic feedback from a slave robot. In this paper, a new design concept of a force reflecting 6-DOF hand controller utilizing the kinematic structure of a Stewart Platform is presented. Based on the optimal design technique of a Stewart Platform, a force reflecting hand controller has been designed and constructed to verify the technical feasibility of proposed design concept. In order to provide an operator with kinesthetic feedback information, a force mapping algorithm based on a reciprocal product of screws has been introduced. Finally, the technical feasibility of the design concept has been demonstrated through some of experimental results of the device under virtual environment on a real-time graphic system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.393-397
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• 1996

A stewart platform-based force/torque sensor with 6 elastic legs was designed and manufactured Kinematic design parameters were determined so that the force/torque sensor might have the isotropic force/torque properities. In a force/torque analysis, it was used the solution of forward kinematics by linearization of the solution of the inverse kinematics. The performance of te force/torque sensor was investigated by measurement experiments. The gravity compensation was conducted to reduce the force and torque effects by the weights of the upper plate, joints and other sensor parts.

• 대한인간공학회지
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• 제7권1호
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• pp.45-52
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• 1988

An instrumentation system for the automatic measurement of body sway has been developed. The system consists of a force platform, amplifiers, and data acquisition and display software, operating on a computer. We used only the force platform and electronic amplifying unit in Kistler Biomechanics System to obtain precise measurements, and developed the data acquisition and analysis software using an IBM PC With 12 bit A/D converter. The system can be used in various specialized disciplines, such as ergonomics, rehabilitation, neuromuscular control, as well as sprots biomechanics.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.985-988
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• 2004

This paper proposes a new training system for equilibrium sense and postural control using unstable platform and force plate. This system consists of unstable platform, force plate, computer interface, software and the computer. Using this system and training programs, we perform the experiment to train the equilibrium sense and postural control of subject. To evaluate the effects of balance training, we measured some parameters such as the maintaining time in the target, the moving time to the target and the mean absolute deviation of the trace before and after training. The result shows that this system can improve the equilibrium sense and balance ability of subject. This study shows that proposed system had an effect on improving equilibrium sense and postural control and might be applied to clinical rehabilitation training as a new effective balance training system.