• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.320-326
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• 2000

The real-time simulator of a pneumatic actuation system that is composed of differential PWM signal generator, charge solenoid valve, discharge solenoid valve, actuator, load, and rotational potentiometer is developed using a DSP board and a PC. The simulator receives the control signals from the external controller through the A/D converter, updates the state and output variables of the Pneumatic actuation system responding to the input signals every sampling time, and sends out the output signals through the D/A converter in real time. The user can observe the displacements, velocities, pressures, and mass flows representing the operation of pneumatic actuation system through the PC monitor in real time. Also the user can see the moving images between the pistons and rotating arm realistically in real time. The accuracy of the real-time simulator is verified by the good agreement of the real-time simulation results and the experimental results of the pneumatic actuation system.

• Tribology and Lubricants
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• v.20 no.6
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• pp.322-329
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• 2004

Recently, a load/unload(L/UL) system is adopted to the hard disk drive(HDD) due to its advantages such as lower power consumption, larger data zone, simpler fabrication of disk due to no bumped parking zone, and rarer contact between slider and media. An analysis of the transient motion for the slider is very important to design an air bearing surface(ABS) of the slider to secure the stable performance of the system. During the L/UL process, however, there are several issues occurred such as contact or collision between slider and media. Sometimes this will cause the system failure. In this study, the dynamics of a pico slider during the loading process are investigated through numerical simulation using FEM analysis and experiment. Ramp profile and angular velocity of the swing arm actuator are very important parameters for the design of L/UL system to avoid collision between slider and disk.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.617-624
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• 2015

This paper describes the development of a wearable robot to assist the elbow muscle for use by elderly workers in aging societies. Various previously developed wearable robots have drawbacks in terms of their price, portability, and slow recognition of the wearer's intention. In this paper, emphasis is placed on the following features to minimize these drawbacks. The first feature is that an actuator is attached only at the elbow joint that withstands the highest moment during arm motion to reduce the weight, volume, and price of the robot and increase its practicality. The second is that operation of the wearable robot is divided into two modes, a tracking mode and a muscle strengthening mode, and the robot can automatically switch between these modes by analyzing the wearer's intention through the brachial muscle strength measuring device developed in this study. The assistive performance of the developed wearable robot is experimentally verified by motion tracking experiments without an external load and muscle strengthening experiments with an external load. During the muscle strengthening experiments, the power of the muscle of the upper arm is measured by a commercial electromyography (EMG) sensor. Motion tracking performance at a speed of $120^{\circ}/s$ and muscle assistance of over 60 % were obtained using our robot.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.7
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• pp.134-141
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• 2009

Recently, many researchers have tried to develop wearable robots for various fields such as medical and military purposes. We have been studying robotic exoskeletons to assist the motion of persons who have problems with their muscle function in daily activities and rehabilitation. The upper-limb motions (shoulder, elbow and wrist motion) are especially important for such persons to perform daily activities. Generally for shoulder motion 300F is needed to describe its motion(extension/flexion, abduction/adduction, internal/external rotation) but we have used a redundant actuator thus making a 4 DOF system. In this paper, we proposed the mechanism design of the exoskeleton which consists of 4-DOF for shoulder and 1-DOF for elbow robotic exoskeleton to assist upper-limb motion. Then we compared the new mechanism design and prototype mechanism design. Here we also analyze the proposed system kinematically to find out and to avoid the singular point. This research will ensure that the proposed wearable robot system make human's motion more powerfully and more easily.

• Science of Emotion and Sensibility
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• v.8 no.4
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• pp.385-391
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• 2005

A frictional coefficients of in-vivo skin characteristic is the most important factor of the cutaneous mechanical properties ant the method of evaluating skin care in the fields of cosmetics products. In-vivo skin characteristic varies in many different ways depends on what is applied to the skin, loading condition, shape, surface roughness, and material of the probe. In this research, we designed a system which can be measured frictional coefficients of a human skin on real time. It consists of multi-components load-cell, actuator, linear motor and arm fixator. This measurement system was automatically controlled by computer. We measured frictional coefficients between probe an4 skin using this system ant inquired adjectives for subjective evaluation while rubbing cosmetic product on skin. Lastly, we analyzed correlation between two factors by calculating Pearson Correlation Coefficient. As a result, we could know that frictional coefficients varied from 0.17-1.2 according to cosmetic products, normal forte, materials and surface conditions of probe. We also confirmed sensual feelings of cosmetic products have close correlation with frictional coefficients.

• Korean Journal of Optics and Photonics
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• v.29 no.3
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• pp.99-103
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• 2018

Optical coherence elastography (OCE) is based on optical coherence tomography (OCT), which is a noninvasive, high-resolution, cross-sectional imaging technique. In this paper, we have developed dynamic optical coherence elastography to measure elasticity, a mechanical property of tissue, by phase difference. A piezoelectric actuator was used for sinusoidal mechanical loading of samples. Before applying this method to biomaterial, we assessed the feasibility of OCE with samples of sponge, eraser, and sharp lead. Cross-sectional and phase-difference images of the sample were obtained under sinusoidal loading. The strain rate was calculated from the phase-difference information. To obtain the envelope of the phase-difference oscillations along the horizontal direction, Hilbert transformation was performed at each depth. The elevation of the envelope was represented by color mapping, and we could measure the relative elasticity within the sample by comparing the elevations. Finally, there was an advantage when we calculated the shear rate using self-interference in the sample arm, instead of the interference between sample and reference arms.