• 한국기계연구소 소보
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• 통권19호
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• pp.81-92
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• 1989

This paper presents a simple identification method of the actual kinematic parameters for the robot with parallel joints. It is known that Denavit-Hartenberg's coordinate system is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and corresponding error function is defined. The identified kinematic parameters which make the error function zero are obtained by iterative least square error method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.

• 한국통신학회논문지
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• 제40권12호
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• pp.2520-2527
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• 2015

작전을 수행하는 군 환경에서 위치 정보는 매우 중요하다. 군 환경에서 위치 정보 획득은 일반적으로 GPS에 의해 이루어진다. 하지만 GPS는 수신 신호의 세기가 매우 약해 전파교란에 취약하다는 단점이 있다. 이러한 단점을 해결하기 위해 많은 연구가 진행되고 있다. 상대항법은 전술데이터링크 표준인 JTIDS(Joint Tactical Information Distribution System)에서 정의된 GPS 보조항법이다. GPS 전파교란 환경에서 상대항법의 정확한 운용을 위해서는 지상에서 공중노드의 참조노드 역할을 수행하는 GRU(Ground Reference Unit)가 보장되어야한다. 하지만 상대항법을 운용하는데 있어서 GRU를 항상 보장하는 것은 쉬운 일이 아니다. GRU 부재 환경에서 상대항법 운용중인 공중노드는 관성항법장치에 의존하여 측위한다. 하지만 관성항법장치에 의존하는 측위는 시간이 지남에 따라 누적 오차 발생을 야기하며 누적 오차에 의해 공중노드는 정확한 측위를 할 수 없다. 본 논문에서는 상대항법에서 GRU 부재 시 관성항법장치 의존으로 인한 공중노드의 위치 오차를 줄이기 위한 대처 방안을 제시한다. 또한 대체 방안의 성능이 기존의 성능에 비하여 우수하다는 것을 모의실험을 통해 증명한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.805-808
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• 1991

In this paper, dynamical model and control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object. Controller consist of forward controller which is reduced order model and compensator that compensates for modeling error. Control laws are determined so as to decouple the force and position controlled degree of freedom(DOF) during motion of the system.

• 대한의용생체공학회:의공학회지
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• 제41권2호
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• pp.84-93
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• 2020

Despite of a lot of studies about proprioception tests, there are little study results to investigate the relationship between the functional movement and proprioception level. In this study, we tried to perform quantitative analysis for the effect of ankle joint proprioception level on the one leg standing postural control ability. Nine healthy people volunteered for this study. Force and position aspects of proprioception were evaluated using the electromyography system (EMG) and mobile clinometer application, respectively. The center of pressure (COP) trajectories, measured by a pressure mat sensor, were used for quantitative analysis of balance for each subject. We computed indices and errors of force and position aspects of proprioception from the EMG and ankle angle. Mean velocity of total and anterior-posterior direction (Vm and Vm_ap), root mean squared distance in anterior-posterior direction (RDap), travel length (L), and area (A) of COP trajectories were also calculated as indices of postural control ability of subjects. Two aspects of proprioception showed the low correlation from each other as previous studies. However, the EMG error of gastrocnemius lateral activation showed a high correlation coefficient with COP variables such as Vm (ρ=0.817, p=0.007), Vm_ap (ρ=0.883, p=0.002), RDap (ρ=0.854, p=0.003), L (ρ=0.817, 0.007) and A (ρ=0.700, p=0.036). Within our knowledge, this is almost the first study that investigated the relationship between proprioception level and functional movement. These study results could support that the ankle joint proprioception facilitation exercise would have positive effects on functional balance rehabilitation interventions.

• 한국생산제조학회지
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• 제8권4호
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• pp.19-28
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• 1999

In order to control thermal deformation of the machine origin of machine tools a empirical model and a compensation system have been developed, Prior to empirical modeling the volumetric error considering shape errors and joint errors of slides is formulated through the homogeneous transformation matrix (HTM) and kinematic chain. Simulation results of the HTM method show that the thermal error of the machine origin is more critical than position-dependent errors. In order to make a stable and effective software error compensation system the GMDH (Group Method of Data Handling) models are constructed to estimate the thermal deformation of the machine origin by measuring deformation data and temperature data. A test bar and gap sensors are used to measure the deformation data. In order to compensate the estimated error the work origin shift method is developed by implementing a digital I/O interface board between a CNC controller and an IBM PC. The method shifts the work origin as much as the amounts which are calculated by the pre-established thermal error model. The experiment results for a vertical machining center show that the thermal deformation of the machine origin is reduced within $\pm$5$mu extrm{m}$.

• 한국자동차공학회논문집
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• 제9권2호
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• pp.107-115
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• 2001

It is required more precise analysis for practical load because of complexities and varieties of vehicle structure. To establish the numerical model, many researchers have been developed designing tools for linking F.E. Analysis results and experimental results. There studies have generally focused on each experimental method or analytical method separately. There are few studies based on both methods. This paper conceives new procedure for the determination of the load direction and magnitude applied on mechanical structures. New procedure is the combination of the analytical and empirical method with analyzed strain by F.E. Analysis under unit load and with measured principal stress by strain gages under driving load, respectively. In this paper, we theorize the procedure of practical load determination and make the validity and the practicality of the procedure with the application to T-shape jointed structure. F.E. Analysis is conducted to get the principal stress on arbitrary points in the F.E. model of T-shape joint under unit load. Then experiment is carried out to get the principal stress on the same points of F.E. model. To demonstrate the actual driving condition, the load conditions are bending and torsion. From these two data sets, the magnitude, the direction and the position of load can be obtained. Theory and practice do not always coincide; since there are some errors such as ill-poseness, measuring error and modeling error in experimental data, we examine the proper method of error minimization.

• Annals of Rehabilitation Medicine
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• 제42권6호
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• pp.854-862
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• 2018

Objective To investigate the effect of treadmill training with eyes open (TEO) and closed (TEC) on the knee joint position sense (JPS), functional balance and mobility in children with spastic diplegia. Methods Forty-five children with spastic diplegia aged 11-13 years participated in this study. They were randomly assigned to three groups of equal number. The control group (CON) underwent designed physical therapy program whereas, the study groups (TEO and TEC) underwent the same program, in addition to treadmill gait training with eyes open and closed, respectively. Outcome measures were the degree of knee joint position error, functional balance and mobility. Measurements were taken before and after 12 weeks of intervention. Results After training, the three groups showed statistically significant improvement in all measured outcomes, compared to the baseline with non-significant change in the knee JPS in the CON group. When comparing posttreatment results, the TEC group showed greater significant improvement in all measured outcomes, than the TEO and CON groups. Conclusion Treadmill training with eyes open and closed is effective in rehabilitation of children with diplegia, but blocked vision treadmill training has more beneficial effect.

• 반도체디스플레이기술학회지
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• 제21권2호
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• pp.117-122
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• 2022

This paper proposes a method for evaluating the work of manufacturing workers using MediaPipe as a risk factor for musculoskeletal diseases. Recently, musculoskeletal disorders (MSDs) caused by repeated working attitudes in industrial sites have emerged as one of the biggest problems in the industrial health field while increasing public interest. The Korea Occupational Safety and Health Agency presents tools such as NIOSH Lifting Equations (NIOSH), OWAS (Ovako Working-posture Analysis System), Rapid Upper Limb Assessment (RULA), and Rapid Entertainment Assessment (REBA) as ways to quantitatively calculate the risk of musculoskeletal diseases that can occur due to workers' repeated working attitudes. To compensate for these shortcomings, the system proposed in this study obtains the position of the joint by estimating the posture of the worker using the posture estimation learning model of MediaPipe. The position of the joint is calculated using inverse kinetics to obtain an angle and substitute it into the REBA equation to calculate the load level of the working posture. The calculated result was compared to the expert's image-based REBA evaluation result, and if there was a result with a large error, feedback was conducted with the expert again.

• The Korean Journal of Pain
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• 제37권2호
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• pp.164-177
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• 2024

Background: Neck and jaw pain is common and is associated with jaw functional limitations, postural stability, muscular endurance, and proprioception. This study aimed to investigate the effect of jaw and neck pain on cranio-cervico-mandibular functions and postural stability in patients with temporomandibular joint disorders (TMJDs). Methods: Fifty-two patients with TMJDs were included and assessed using Fonseca's Questionnaire and the Helkimo Clinical Dysfunction Index. An isometric strength test was performed for the TMJ depressor and cervical muscles. The TMJ position sense (TMJPS) test and cervical joint position error test (CJPET) were employed for proprioception. Total sway degree was obtained for the assessment of postural stability. Deep neck flexor endurance (DNFE) was assessed using the craniocervical flexion test. The mandibular function impairment questionnaire (MFIQ) was employed to assess mandibular function, and the craniovertebral angle (CVA) was measured for forward head posture. Results: Jaw and neck pain negatively affected CVA (R² = 0.130), TMJPS (R² = 0.286), DNFE (R² = 0.355), TMJ depressor (R² = 0.145), cervical flexor (R² = 0.144), and extensor (R² = 0.148) muscle strength. Jaw and neck pain also positively affected CJPET for flexion (R² = 0.116) and extension (R² = 0.146), as well as total sway degree (R² = 0.128) and MFIQ (R² = 0.230). Conclusions: Patients with painful TMJDs, could have impaired muscle strength and proprioception of the TMJ and cervical region. The jaw and neck pain could also affect postural stability, and the endurance of deep neck flexors as well as mandibular functions in TMJDs.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.731-737
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• 2013

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.