• 대한치과보철학회:학술대회논문집
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• 2000.11a
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• pp.80-80
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• 2000

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.289-296
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• 2016

This study presents the kinematics of an intrinsic continuum robot actuated by pneumatic artificial muscles. The single section of a developed continuum robot consisted of three muscles in parallel. The contraction of each muscle according to applied air pressure produced spatial motions of a distal plate with respect to a base plate. Based on the bending behaviors of artificial muscles, the orientation and position of the end-effector of a continuum robot were formulated using a transformation matrix. The orientation and position was also determined for a single section of the distal plate. A Jacobian matrix relating the contraction rate or the pressure rate of the muscles to the velocity vector of the end-effector was calculated considering the assembled position of actuators between neighboring sections of the robot. Experimental results showed that the motions of the intrinsic continuum robot were accurately estimated by the proposed kinematics.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.237-246
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• 2019

The Electro-Mechanical Brake (EMB) is the next generation braking system for automobiles and railway vehicles. Current brake systems for high-speed trains generate a braking force using a pneumatic cylinder, but EMB systems produce that force through a combination of an electric motor and a gear. In this study, an EMB operation mechanism capable of generating a high braking force was proposed, and structural and vibration analyses of the gears and shafts, which are the core parts of the mechanisms, were performed. Dynamic structural analysis confirmed that the maximum stress in the analysis model was within the yield strength of the material. In addition, the design that maximizes the diameter of the motor shaft was found to be advantageous in strength, and large shear stress could be generated in the bolt fixing the gear and eccentric shaft. In addition, a test apparatus that can reproduce the mechanism of the analytical model was fabricated to measure the strain of the fixed bolt part, which is the most vulnerable part. The strain measurement results showed that the error between the analysis and measurement was within 10%, which could verify the accuracy of the analytical model.

• Journal of Biomedical Engineering Research
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• v.28 no.4
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• pp.569-576
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• 2007

Ventricular Assist Device(VAD) has switched its goal from a short-tenn use for bridge-to-transplantation to a long-tenn use for destination therapy, With this goal, the importance of long-tenn reliability gets more interests and importances, H-VAD is an portable extracorporeal biventricular assist device, and adopts an electro-pneumatic driving mechanism. The pneumatic pressure to pump out blood is generated with compression of bellows, and is transmitted in a closed pneumatic circuit through a pneumatic line. The existing pneumatic VAD adopts a air compressor which can generate stable pressures but has defects such as a noise and a size problem. Thus, it is not suitable for being used as a portable device, These problems are covered with adopting a closed pneumatic circuit mechanism with a bellows which has a small size and small noise generation, but it has defects that improper pneumatic setting causes a failure of adequate flow generation. In this study, the pneumatic pressure regulation system is developed to cover these defects of a bellows-type pneumatic VAD. The optimal pneumatic pressure conditions according to various afterload conditions for an optimal flow rate were investigated and the afterload estimation algorithm was developed, The final pneumatic regulation system estimates a current afterload and regulate the pneumatic pressure to the optimal point at a given afterload condition. The afterload estimation algorithm showed a sufficient performance that the standard deviation of error is 8.8 mmHg, The pneumatic pressure regulation system showed a sufficient performance that the flow rate was stably governed to various afterload conditions. In a further study, if a additional sensor such as ultrasonic sensor is developed to monitor the direct movement of diaphragm in a blood pump part, the reliability would be greatly increased. Moreover, if the afterload estimation algorithm gets more accuracy, it would be also helpful to monitor the hemodynamic condition of patients.