• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.26-32
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• 2016

A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• Journal of muscle and joint health
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• v.30 no.3
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• pp.157-167
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• 2023

Purpose: The purpose of this study was to measure the relationship among activities of daily living, ego integrity, social support and the compliance of patient-role behavior in elderly patients receiving hemodialysis, including the effect of these variables on the compliance of patient-role behavior. Methods: A descriptive survey was conducted with 150 elderly patients over 65 years of age who were also receiving hemodialysis. Data was collected from September 28 to November 13, 2021 and analyzed using t-test, one-way ANOVA, Pearson's correlation coefficients, and multiple regression analysis with SPSS/WIN 26.0. Results: The results show that patient compliance had significant correlations with ego integrity (r=.63, p<.001) and social support (r=.28, p=.001). The other factors influencing patient compliance were the sub-domains of ego integrity, such as the acceptance of the past and the presence (β=.46, p<.001) and attitudes toward life (β=.26 p<.001), with an explanatory power of approximately 35.0% (F=17.21, p<.001). Conclusion: This study confirms that the ego integrity of elderly patients receiving hemodialysis has an effect on the compliance of patient role behavior. Nursing intervention programs that improve the ego integrity of elderly hemodialysis patients could help improve the compliance of patient-role behavior, which is an important factor in the disease management process.

• Journal of muscle and joint health
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• v.5 no.1
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• pp.26-38
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• 1998

The effects of coping on physical and psychosocial adaptation in the 297 patients with rheumatoid arthritis were investigated. The coping methods were divided into compliance of medical regimens, self-control activities, and cognitive control. The effects of these coping methods was analyzed with stepwise regression. The physical adaptation is found to be significantly affected by cognitive control, self-control activities, and compliance of medical regimens in order Compliance of the medical regimens affects negatively the physical adaptation. And psychosocial adaptation is significantly affected by the cognitive control. The analysis of these results by illness duration showed the distinct differences. That is in the patients who experienced the disease less than 48 months, the physical and the psychosocial adaptation were significantly affected only by the cognitive control. But in the patients who experienced the disease more than 96 months, the physical and the psychosocial adaptation were significantly affected by self-control activities. Based upon these results, it is recommended that the nurses who care the newly diagnosed patients emphasize on the positive side of the state. And the patients who are diagnosed long ago need the nursing programs which teach and promote self-control activities. Also it is suggested that the results of compliance must be considered rather than as the result variable.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.156-161
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• 2002

It depends on the joint configuration, dimensions and constraints on the joint whether the residual stress at the root of single-sided butt weld is tensile or not. Therefore, recommendation is generally made that high R ratio should be used in the fatigue test of this type of joint in order to prevent excessively long life caused by compressive residual stress. in this research, the residual stress profile in butt weld joint was obtained through compliance method, using successive extension of a slot and measurement of the variation of strain during the slot extension. The residual stress profile was firstly assumed to be the linear summation of Legendre polynomials up to 9th order excluding 0th and 1st order. Strain variation on the surface was measured while the slot was being extended by cutting to find out the 8 unknown coefficients of each polynomial tenn. The cut was made by the electric discharge machine. It was concluded that the residual stress near the surface stayed positive, however, it turned into the negative value as soon as it passed through 2 or 3 mm depth. Several fatigue tests were also carried out under zero stress ratio. Test results showed that fatigue life coincides well with the design cuive of butt joint in British Standards, which supports that it is tensile residual stress that exists near the weld root.

• Journal of muscle and joint health
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• v.31 no.1
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• pp.42-52
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• 2024

Purpose: This study aimed to identify the factors affecting compliance with personal protective equipment (PPE) use among medical device reprocessing staff. Methods: This descriptive cross-sectional study included 163 cleaning staff members from ten general hospitals in Seoul and Gyeonggi. Data were collected using self-report questionnaires administered between July and September 2023. Analysis included t-tests, ANOVA, Pearson's correlation coefficient, Bonferroni correction, and multiple regression, conducted using SAS ver.9.4. Results: Statistically significant differences in compliance with PPE were found based on department and exposure to contamination within six months (t=-2.82, p=.007). Attitudes toward PPE (r=.22, p=.006) and awareness of the safety climate (r=.22, p=.006) showed a statistically significant positive correlation with PPE compliance. Factors influencing use of personal protective equipment by cleaning staff during medical device reprocessing were department, compliance with PPE, and awareness of the safety climate. The explanatory power of these factors was 58.0%. Conclusion: Improving PPE compliance and creating a safe cleaning environment entails fostering a supportive safety climate. Additionally, regular training that takes into consideration the characteristics of the cleaning staff, alongside continuous monitoring, is required.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.35 no.6
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• pp.343-349
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• 2022

This paper proposes a new topology optimization scheme to determine optimized joints for multi-component models. The joints are modeled as zero-length high-stiffness spring elements. The spring joints are considered as mesh-independent springs based on a joint-element interpolation scheme. This enables the changing of the location of the joints regardless of the connected nodes during optimization. Because the joints are movable, the locations of the optimized joints should be aggregated at several points. In this paper, the novel joint dispersal (JD) constraint to prevent joint clustering is proposed. With the joint dispersal constraint, it is possible to determine the optimized joint location as well as optimized topologies while maintaining the minimum distance between each joint. The mechanical compliance value is considered as the objective function. Several topology optimization examples are solved to demonstrate the effect of the joint dispersal constraint.

• Journal of muscle and joint health
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• v.6 no.2
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• pp.211-225
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• 1999

This descriptive correlational study was carried to identify the relationship among social support, compliance, and psychosocial adjustment of patients with rheumatoid arthritis. The study was done with 100 rheumatoid arthritic patients who were visited in Outpatient clinic of university hospital in Taegu, Korea from the 23rd of February to the 20th of March in 1998. The Data were collected through person to person interviews which were performed by five researchers. The instruments used for this study were Yu's social support scale(1996), Cho's compliance scale(1987), and Kim's psychosocial adjustment scale(1997). The data was analyzed by using a t-test, Pearson correlation coefficient, ANOVA, and Tukey test with the SAS Program. The results of this study were as follows ; 1. The mean score of social support was 2.76 for 4 full marks, compliance was 3.20 for 5 full marks, and psychosocial adjustment was 2.26 for 4 full marks. 2. Hypothesis 1 : "The higher the social support degree, the higher the compliance degree of the rheumatoid arthritis patient". It was supported(r=0.54, p<0.001). Hypothesis 2 : "The higher the compliance degree, the higher the psychosocial adjustment degree of the rheumatoid arthritis patient". It was supported(r=0.34, p<0.001). Hypothesis 3 : "The higher the social support degree, the higher the psychosocial adjustment degree of the rheumatoid arthritis patient". It was supported(r=0.24, p<0.05). 3. In general, the spouse group compared to other groups was demonstrated as the most dependable group for patients to trust and expect support. And the sons and daughters group was shown higher than other groups in terms of social support(F=4.19, p=0.01). There was no difference in terms of compliance in degree. In the degree of psychosocial adjustment the highly educated group(more than high school) is a little higher than the lowly educated group(F=3.08, p=0.03). In the costs of medical care, the group that could afford was significant higher than the group which could not afford results in terms of the psychosocial adjustment degree(F=3.99, p=0.01). The outcome of this study is that the social support that related rheumatoid arthritic patients had an effect on the following compliance, and the following compliance helps psychosocial adjustment of patients. It also shows that social support related psychosocial adjustment. Therefore, to increase the level of psychosocial adjustment of rheumatoid arthritic patients, it will be effective in supportive nursing intervention to improve social support and compliance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.5867-5874
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• 2012

The aim of this study was to find on muscle architectural and tissue compliance of biceps brachii in stroke patient based on elbow joint angle. The subjects of this study were twelve hemiplegic adults after stroke with passive range of motion in the elbow from $10^{\circ}$ to $90^{\circ}$ and Modified Ashworth Scale score 1 to 3 were recruited. Ultrasonography and Myotonometer was used to measure biceps brachii muscle pennation angle, fascicle length, and tissue compliance at the rest condition and pennation angle, fascicle length, and tissue compliance of the biceps brachii muscle were measured in the affected and unaffected sides of people after stroke at 9 different elbow angles ranging from $10^{\circ}$ to $90^{\circ}$ at the rest condition. The results of this study, comparisons found that the pennation angles of the affected biceps brachii muscle were significantly larger(p<.05) than the unaffected muscle in the most extended positions($<40^{\circ}$), whereas the affected fascicle lengths were significantly shorter(p<.05) than the unaffected muscle in most flexed positions($>20^{\circ}$), and the affected tissue compliance were significantly lower(p<.05) than the unaffected muscle in most extended positions($<50^{\circ}$) Therefore, pennation angles, fascicle lengths, and tissue compliance were found to be joint-angle-dependent in both the affected and unaffected sides at the rest condition. Suggest that, the results data can be used as a muscle architectural changes and clinical treatment research in stroke patients.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.103-109
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• 2012

Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.1008-1020
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• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.