• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.117.5-117
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• 2002

. Mobility analysis for overconstrained mechanisms is not clearly explained. . Aims at mobility analysis of overconstrained mechanisms . Representative screws is employed as a tool . A method to identifying the representative screw is introduced . Mobility analysis for several overconstrained parallel mechanisms and mobile robots

• 충청수학회지
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• 제23권4호
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• pp.617-623
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• 2010

Let p be a hyperbolic periodic point of f, and let ${\Lambda}(p)$ be a closed set which containing p. In this paper, we show that $C^1$-generically, if $f{\mid}_{{\Lambda}(p)}$ has the $C^1$-stably asymptotic average shadowing property, then it admits a dominated splitting.

• 대한물리의학회지
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• 제4권2호
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• pp.93-100
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• 2009

Purpose：The purpose of this study was to examine the effects of self-controlled knowledge of result (KR) versus the yoked KR on learning of knee joint proprioception. Methods：Forty volunteer subjects (20 men and 20 women) were randomly assigned to each four groups: 1) self-controlled KR in open kinematic chain, 2) yoked KR in open kinematic chain, 3) self controlled KR in close kinematic chain, and 4) yoked KR in close kinematic chain. The difference between the angle of position and reproduction angle was determined as a proprioception error and measured using an angle reproduction test. The subjects in self-controlled groups were provided with feedback whenever they requested it, whereas the subjects in yoked groups were not provided with feedback. The data were analyzed using a one-way ANOVA. Results：The proprioception errors in close kinematic chain groups decreased significantly compared with those in close kinematic chain groups(p<.05). The proprioception errors in the self-controlled group decreased significantly compared with those in yoked groups during acquisition and retention test(p<.05). Conclusion：Self-controlled knowledge of result during open kinematic chain movement is considered to be a good method on motor learning.

• Journal of Advanced Marine Engineering and Technology
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• 제20권1호
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• pp.37-43
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• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.550-559
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• 2004

In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented. The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the concepts of linear and angular momenta Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2010년도 제39회 하계학술대회 초록집
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• pp.56-56
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• 2010

Using first-principles density-functional theory calculations, we find dramatically different electronic states in the C chains generated on the H-terminated C(111) surface, depending on their length and parity. The infinitely long chain has $\pi$ electrons completely delocalized over the chain, yielding an equal C-C bond length. As the chain length becomes finite, such delocalized $\pi$ electrons are transformed into localized ones. As a result, even-numbered chains exhibit a strong charge-lattice coupling, leading to a bond-alternated structure, while odd-numbered chains show a ferrimagnetic spin ordering with a solitonlike structure. These geometric and electronic features of infinitely and finitely long chains are analogous to those of the closed (benzene) and open (polyacetylene) chains of hydrocarbons, respectively.

• Journal of Advanced Marine Engineering and Technology
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• 제32권2호
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• pp.343-350
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• 2008

In this paper, a six degree-of-freedom robot arm which is very light but capable of delivering heavy loads was studied. The proposed robot arm has much higher load capacity than conventional robot arms actuated by motors with speed reducers such as the harmonic drive since a new type of robot actuator based on a closed chain mechanism driven by the ball screw was adopted. Analysis on the design scheme and on the mechanism of the joint actuator of the robot arm were made. Since the robot arm was designed very light, it has deflection in the links. To analyze this, a finite element analysis on the structure of the designed robot links was made using ANSYS software. Verifying experiments on the performance of high load capacity of the robot arm was performed by loading heavy weights on the robot arm. Through experiments. the correctness of the numerical analysis was also verified.

• 대한정형외과스포츠의학회지
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• 제2권1호
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• pp.6-14
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• 2003

전방십자인대재건술의목표는안정된관절과 pivot shift 현상을 제거하고, 반월상 연골을 보호하고, 관절운동범위를 유지하고, 술후슬개-대퇴관절의문제를최소화하도록재활하여수상전의운동수준으로복귀시키는것이다. 그래서전방십자인대 재건술은급성기에수술은피하고, 수술 전에재활치료를통하여관절운동범위와 대퇴사두고근의근력을얻은다음, 환자가육체적으로나정신적으로준비가될때까지수술을연기한다. 수술후재활치료는슬관절의완전신전과closed kinetic chain 운동을강조하며, 수술후정기적인방문으로재활치료를지도해주고장기추시해야하는것이중요하다.

• 한국지능시스템학회논문지
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• 제22권1호
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• pp.22-27
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• 2012

본 논문에서는 볼 나사의 구동에 의해 물체의 파지가 가능한 로봇 그리퍼 메커니즘을 제시한 후, 시뮬레이션을 통하여 제시한 그리퍼 메커니즘의 파지 동작에서 나타날 수 있는 기구학적인 특성을 분석한다. 이를 위하여 구동기의 관절 공간과 그리퍼의 끝 공간간의 기구학적 관계를 파악한다. 제안한 로봇 그리퍼는 하나의 구동모터를 사용하고, 좌우 대칭인 폐체인(closed-chain)을 형성하고 있는 것이 특징이다. 결과적으로, 제안한 로봇 그리퍼는 구조적으로 외력에 강인하고, 하나의 구동모터에 의해 파지 동작이 구현되므로 수월한 파지가 가능하다. 또한 제안된 그리퍼는 파워 파지에 유용한 조임 효과를 갖는다.

• 한국운동역학회지
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• 제28권3호
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• pp.187-191
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• 2018

Objective: The purpose of the present study is to investigate the effect of a muscle activity by applying the complex exercise method of sling in accordance with the provision of various vibration intensities for paraplegia-spinal cord injury. Method: The subjects of the study were 15 men in their 40s and 50s with lower limb disabilities and low potential risk, who were randomly divided into a sling exercise group (SG n=4), a sling with low frequency vibration group (SLVG n=4), a sling with mid-frequency vibration group (SMVG n=4), and a sling with high frequency group (SHVG n=4) in accordance with the provision of slings and vibration stimuli. The vibratory intensity provided was divided into low frequency (30 Hz), mid-frequency (50 Hz), and high frequency (70 Hz). The anterior deltoid (AD), the posterior deltoid (PD), the pectoralis major (PM), the upper trapezius (UT), the latissimus dorsi (LD), and the multifidus (MF) were measured to compare and analyze muscle activity. Results: The closed kinetic chain (CKC) exercise to the shoulder joint showed higher muscle activity in most muscles for the SMVG, and statistically significant differences in the anterior deltoid (AD), the pectoralis major (PM), and the multifidus (MF) in particular. Conclusion: The intermediate frequency (50 Hz) string vibration was the effective vibration stimuli for Closed kinetic chain (CKC) exercises.