• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.675-682
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• 2009

Instead of direct driving like BLDC, the induction principle is adopted as a driving one for planar stage. The stage composed of four linear induction motors put in square type is activated by two-axial forces; low-frequency attractive force and thrust force of the linear induction motors. Here, the modified vector control whose new inputs are q-axis current and dc current biased to three phase current instead of d-axis current or flux current is applied extensively to overall motion of the stage. For the developed system, the precision step test and the constant velocity test are tried to guarantee its feasibility for TFT-LCD pattern inspection. However, to exclude a discontinuity due to phase shift and minimize a force ripple synchronized with the command frequency, the initial system is revised to the antagonistic structure over the full degree of freedom. Concretely describing, the porous air bearings guide an air-gapping of the stage up and down and a pair of liner induction motors instead of single motor are activated in the opposite direction each other. The performances of the above systems are compared from trapezoid tracking test and sinusoidal test.

• Journal of the Ergonomics Society of Korea
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• v.8 no.2
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• pp.3-18
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• 1989

Two sets of isometric pushing and pulling experiments were performed by two male and two female susbjects. One set of experiments involoved isometric hand pushing and pulling in a standing erect posture, in which the thigh and pelvic regions of the subjects were braced to achieve the greatest strength. Another set of experiments involved isometric hand pushing and pulling in a free posture, in which the subjects elected their preferred postures to attain the largest strength at each of thred handle heights (low-66cm ; mid-109cm ; and high-152cm). It was shown from isometric pushing and pulling experiments in a standing erect poture that the rectus abdominis and the erector spinae muscles were acting as an antagonistic pair with respect to the L5/S1 intervertebral joint, and that the integrated EMG and the muscle force were linearly related. However, the relationships between the integrated EMG and the muscle force during isometric pushing and pulling in a free posture were not well-correlated. It is proposed that the integrated EMG results should be carefully interpreted for tasks of pushing and pulling at various handle heights.

• The Journal of Advanced Prosthodontics
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• v.8 no.1
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• pp.43-52
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• 2016

PURPOSE. This study was conducted to evaluate the effects of full-coverage all-ceramic zirconia, lithium disilicate glass-ceramic, leucite glass-ceramic, or stainless steel crowns on antagonistic primary tooth wear. MATERIALS AND METHODS. There were four study groups: the stainless steel (Steel) group, the leucite glass-ceramic (Leucite) group, the lithium disilicate glass-ceramic (Lithium) group, and the monolithic zirconia (Zirconia) group. Ten flat crown specimens were prepared per group; opposing teeth were prepared using primary canines. A wear test was conducted over 100,000 chewing cycles using a dual-axis chewing simulator and a 50 N masticating force, and wear losses of antagonistic teeth and restorative materials were calculated using a three-dimensional profiling system and an electronic scale, respectively. Statistical significance was determined using One-way ANOVA and Tukey's test (P<.05). RESULTS. The Leucite group ($2.670{\pm}1.471mm^3$) showed the greatest amount of antagonist tooth wear, followed by in decreasing order by the Lithium ($2.042{\pm}0.696mm^3$), Zirconia ($1.426{\pm}0.477mm^3$), and Steel groups ($0.397{\pm}0.192mm^3$). Mean volume losses in the Leucite and Lithium groups were significantly greater than in the Steel group (P<.05). No significant difference was observed between mean volume losses in the Zirconia and Steel groups (P>.05). CONCLUSION. Leucite glass-ceramic and lithium disilicate glass-ceramic cause more primary tooth wear than stainless steel or zirconia.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.1
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• pp.115-122
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• 2011

Recently, we have proposed a hypothesis that spinal structures have a stress sensor driving feedback mechanism, In the human spine, spinal structure could react to modify muscular action in such a way so as to equalize stress at the disc, therefore reduce the risk of injury, In this analysis, abdominal muscle and abdominal pressure, which were not included in the previous study, were added to identify those effects in spine stability during upright stance posture for the case where the intervertebral disc plays the role of mechanoreceptor, The musculoskeletal FE model was consisted with detailed whole lumbar spine, pelvis, sacrum, coccyx and simplified trunk model. Muscle architecture with 46 local muscles containing paraspinal muscle and 6 rectus abdominal muscles were assigned according to the acting directions. The magnitude of 4kPa was considered for abdominal pressure. Minimization of the nucleus pressure deviation and annulus fiber average tension stress deviation was chosen for cost function. Developed model provide nice coincidence with in-vivo measurement (nucleus pressure). Analysis was conducted according to existence of co-activation of abdominal muscle and abdominal pressure. Antagonistic activity of abdominal muscle produced stability of spinal column with relatively small amount of total muscle force. In contrast to the abdominal muscle, effect of abdominal pressure was not clear that was partly depending on the assumption of constant abdominal pressure.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.15 no.1
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• pp.61-70
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• 2005

This study investigated the spinal loads(L5/S1 disc compression and shear forces) predicted from four biomechanical models: one EMG model and three optimization models. Three objective functions used in the optimization models were to miminize 1) the cubed muscle forces : MF3, 2) the cubed muscle stress : MS3, 3) maximum muscle intensity : MI. Twelve healthy male subjects participated in the isometric voluntary exertion tests to six directions : flexion/extension, left/right lateral bending, clockwise/ counterclockwise twist. EMG signals were measured from ten trunk muscles and spinal loads were assessed at 10, 20, 30, 40, 50, 60, 70, 80, 90%MVE(maximum voluntary exertion) in each direction. Three optimization models predicted lower L5/S1 disc compression forces than the EMG model, on average, by 31%(MF3), 27%(MS3), 8%(MI). Especially, in twist and extension, the differences were relatively large. Anterior-posterior shear forces predicted from optimization models were lower, on average, by 27%(MF3), 21%(MS3), 9%(MI) than by the EMG model, especially in flexion(MF3 : 45%, MS3 : 40%, MI : 35%). Lateral shear forces were predicted far less than anterior-posterior shear forces(total average = 124 N), and the optimization models predicted larger values than the EMG model on average. These results indicated that the optimization models could underestimate compression forces during twisting and extension, and anterior-posterior shear forces during flexion. Thus, future research should address the antagonistic coactivation, one major reason of the difference between optimization models and the EMG model, in the optimization models.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.8
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• pp.771-782
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• 2017

This paper describes the development of a wearable robot to assist ankle power for the elderly. Previously developed wearable robots have generally used motors and gears to assist muscle power during walking. However, the combination of motor and reduction gear is heavy and has limitations on the simultaneous control of stiffness and torque due to the friction of the gear reducer unlike human muscles. Therefore, in this study, Mckibben pneumatic muscle, which is lighter, safer, and more powerful than an electric motor with gear, was used to assist ankle joint. Antagonistic actuation using a pair of pneumatic muscles assisted the power of the soleus muscles and tibialis anterior muscles used for the pitching motion of the ankle joint, and the model parameters of the antagonistic actuator were experimentally derived using a muscle test platform. To recognize the wearer's walking intention, foot load and ankle torque were calculated by measuring the pressure and the center of pressure of the foot using force and linear displacement sensors, and the stiffness and the torque of the pneumatic muscle joint were then controlled by the calculated ankle torque and foot load. Finally, the performance of the developed ankle power assistive robot was experimentally verified by measuring EMG signals during walking experiments on a treadmill.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.49-56
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• 2015

Objectives : The purpose of this study was to present quantitative data and basic references to decrease the accident risk of soccer instructors. Methods : To obtain data, we conducted an investigation on how H/Q ratio affects the dynamic stability of the lower extremity at the time of drop landing. The study targeted 13 soccer players from C University who have not had any injuries or wounds in the lower extremity joints and in any other parts of their bodies over the last 6 months. By using CMIS (USA), the players were divided into two groups according to H/Q ratios higher and lower than 69%, respectively. The subjects in each group were instructed to perform a drop landing. Results : The H/Q ratio did not affect the maximal flexion angle of the knee joints at the time of drop landing. In addition the dominant group with a relatively high H/Q ratio was observed to have increased time to reduce shock and to efficiently absorb the ground reaction force during drop landing. Also, the dominant group with a relatively high H/Q ratio utilized the strong performances of the antagonistic muscles around the hamstrings and the controlled rotatory powers of the thighs that were applied to the tibias supported by the ground. Finally, H/Q ratio, load factors, and mean and maximum EMG were significantly negatively related, whereas GRFx showed a positive relationship. In fact, these factors all affected the impact of the load from the H/Q ratio to the knee joints. Conclusion : From these findings it can be concluded that unbalanced H/Q ratio can be considered as a predictor of knee joint injury at the time of drop landing.

• The Journal of Advanced Prosthodontics
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• v.10 no.4
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• pp.300-307
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• 2018

PURPOSE. To investigate the fatigue and fracture resistance of computer-aided design and computer-aided manufacturing (CAD/CAM) ceramic molar crowns on dental implants and human teeth. MATERIALS AND METHODS. Molar crowns (n=48; n=8/group) were fabricated of a lithium-disilicate-strengthened lithium aluminosilicate glass ceramic (N). Surfaces were polished (P) or glazed (G). Crowns were tested on human teeth (T) and implant-abutment analogues (I) simulating a chairside (C, crown bonded to abutment) or labside (L, screw channel) procedure for implant groups. Polished/glazed lithium disilicate (E) crowns (n=16) served as reference. Combined thermal cycling and mechanical loading (TC: $3000{\times}5^{\circ}C/3000{\times}55^{\circ}C$; ML: $1.2{\time}10^6$ cycles, 50 N) with antagonistic human molars (groups T) and steatite spheres (groups I) was performed under a chewing simulator. TCML crowns were then analyzed for failures (optical microscopy, SEM) and fracture force was determined. Data were statistically analyzed (Kolmogorow-Smirnov, one-way-ANOVA, post-hoc Bonferroni, ${\alpha}=.05$). RESULTS. All crowns survived TCML and showed small traces of wear. In human teeth groups, fracture forces of N crowns varied between $1214{\pm}293N$ (NPT) and $1324{\pm}498N$ (NGT), differing significantly ($P{\leq}.003$) from the polished reference EPT ($2044{\pm}302N$). Fracture forces in implant groups varied between $934{\pm}154N$ (NGI_L) and $1782{\pm}153N$ (NPI_C), providing higher values for the respective chairside crowns. Differences between polishing and glazing were not significant ($P{\geq}.066$) between crowns of identical materials and abutment support. CONCLUSION. Fracture resistance was influenced by the ceramic material, and partly by the tooth or implant situation and the clinical procedure (chairside/labside). Type of surface finish (polishing/glazing) had no significant influence. Clinical survival of the new glass ceramic may be comparable to lithium disilicate.

• Journal of the korean academy of Pediatric Dentistry
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• v.37 no.2
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• pp.226-232
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• 2010

Incidence of tooth impaction varies from 5.6 to 18.8% of the population. Failure of eruption of the first and second permanent molars is rare; the prevalence in the normal population is 0.01% in case of the first permanent molar, and 0.06% in case of the second permanent molar. Permanent molars are particularly important for providing sufficient occlusal support and co-ordinating facial growth. Failure of eruption of permanent molars may result in various complications such as decrease in vertical dimension, posterior open bite, extrusion of antagonistic teeth, resorption and inclination of adjacent teeth, formation of cyst and so on. Treatment options of impacted teeth are periodic observation, surgical exposure, surgical exposure with subluxation, orthodontic relocation, and surgical extraction before prosthetic treatment. Early diagnosis and treatment are important, because delayed treatment induces various problems such as decreased spontaneous eruptive force, decreased successful percentage, increased treatment period, increased various complications. Prevalence of the failure of mandibular first molars is rare but eruptive guidance before extraction of impacted teeth is necessary due to importance of permanent molars. We reported two cases of surgical exposure of impacted mandibular first molar. In these cases, we could observe different result of the impacted mandibular first molar after surgical exposure.