• Tribology and Lubricants
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• v.30 no.1
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• pp.36-45
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• 2014

Understanding steel/skin contact phenomena is important for the study of object manipulation in robotics and has been a topic of great interest. In this study, pig skin was taken as a surrogate model for human skin, and its adhesive, friction, and deformation behaviors were measured under various exposure times to air. Indentation, friction, and scratch tests were performed at $25^{\circ}C$ and 45% relative humidity. The influences of adhesion and deformation on the coefficient of friction were characterized; the pig skin was found to be sensitive to the sliding velocity and normal load under the controlled experimental conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.131-134
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• 2011

In this study, we propose an optimal design and new fabrication method for a slim tactile sensor. Slim tactile sensor can detect 3-axial forces and has suitable flexibility for intelligent robot fingers. To amplify the contact signal, a unique table-shaped structure was attempted. A new layer-by-layer fabrication process for polymer micromachining that can make a 3D structure by using a sacrificial layer was proposed. A table-shaped epoxy sensing plate with four legs was built on top of a flexible polymer substrate. The plate can convert an applied force to a concentrated stress. Normal and shear forces can be detected by combining responses from metal strain gauges embedded in the polymer substrate. The optimal positions of the strain gauges are determined using the strain distribution obtained from finite element analysis.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.4
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• pp.866-875
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• 1994

The problem of a rigid rod sliding on a rough horizontal surface in the plane is analyzed, which is commonly cited as an example of the inconsistency of rigid body frictional mechanics. The inconsistency is demonstrated by analyzing the normal reaction force at the contact point with the surface, and the concept of tangential collision is derived to resolve the inconsistency. Using the Poisson's hypothesis for the coefficient of restitution and Coulomb's law for the friction, the general methodology for solving the tangential collision is presented. The problem of the inconsistency generated in the sliding rod is completely resolved, building the concept of the tangential collision and adopting the theory of frictional impact. The result presented in this paper will obviate a generic obstacle to the development of simulation packages for planar rigid body mechanical systems with temporary contacts, and planning efficient motion strategies for robot manipulators.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.331.1-331
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• 2002

Four degrees of freedom mathematical model is presented to describe the fundamental mechanisms of the disc brake squeal noise. A contact parameter is introduced to describe the coupling between the in-plane and the out-of-plane motions. The friction coeficient including "relative velocity" and ′normal force" can be generally formulated as the form of multiplication with polynominal parameters(${\beta}$, ${\gamma}$). (omitted)

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.8
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• pp.1513-1518
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• 1992

Numerical solution technique is suggested to analyze the vibration of a spring composed of stacked beams fastened together. Bernoulli-Euler beam theory for small deflection is used, and incremental Coulomb friction law is adopted for the interface friction. The validity of the present solution technique is checked for the perfectly bonded case and the perfect sliding case.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.8
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• pp.1438-1445
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• 1992

A new and efficient method is presented to evaluate contact force and motion of an electric railway simple catenary-pantograph system. Overhead lines are regarded as simple strings, and hangers connected to the strings are replaced with concentrated forces acting on them. The displacement of strings due to concentrated forces caused by hangers and pantograph is expressed using Green's function. A system of linear algebraic equations in terms of unknown forces is derived based upon the compatibility requirement at the location of hangers and pantograph. This procedure is more analytic in formulation compared to the existing methods such as finite difference method or normal modes method, and it is expected to be more accurate. Present method has additional advantage that it requires neither numerical differentiation nor system eigenvalues.

• Journal of Biomedical Engineering Research
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• v.21 no.2
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• pp.213-218
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• 2000

Pressure distributions of the soft tissue are valuable for understanding and diagnosing the disease characteristics due to the mechanical loading. Our system measures dynamic pressure distributions in real-time under the general PC environment, and analyzes various foot disorders. Main features of the developed system are as follows: (1) With the resistive pressure sensor matrix of 40${\times}$40 cells, the data is sent to the PC with the maximum sampling rate of 40 frames/sec. (2) For each frame, contact area, pressure and force are analyzed by graphic forms. Thus, various biomechanical parameters are easily determined at specific areas of interests. (3) A certain stance phase can be chosen for the analysis from the continuous walking, and the detailed biomechanical analysis can be done according to an arbitrary line dividing anterior/posterior or medial/lateral plantar areas. (4) The center of pressure (COP) is calculated and traced from the pressure distribution data, and thus the movement of the COP is monitored in detail. A few experiments revealed that our system successfully measured the dynamic plantar distribution during normal walking.

• Tribology and Lubricants
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• v.17 no.4
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• pp.312-320
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• 2001

In magnetic hard disk drives, higher areal recording density requires reduction of head-disk spacing. To overcome the increase of stiction associated with reduction of head-disk spacing, a padder slider, which adds pads to slider's air bearing surface, can be one of the practical solution for sub 20 nm flying height, and even for near contact recording. This study investigated the tribological characteristics of a padder slider. A padder slider took off slowly but showed less friction force than a normal slider. The hot/dry CSS test and drag test indicated that pad wear of a padder slider was negligible. The tribological performance of disk is an important factor to be considered. In particular, less carbon overcoat layer of the disk will result in higher stiction and wear in slider/disk interface. In conclusion, a padder slider shows encouraging tribological performances for practical use in HDD.

• Journal of the Korean Geotechnical Society
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• v.20 no.5
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• pp.99-107
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• 2004

Anisotropic characteristics of deformation are important to understand the particular behavior in the pre-failure state of soils. Recent experiments show that cross-anisotropic moduli of granular soils can be expressed by functions of normal stresses in the corresponding directions, which is closely linked to micromechanical characteristics of particles. Granular soils are composed of a number of particles so that the force-displacement relationship at each contact point governs the macroscopic stress-strain relationship. Therefore, the micromechanical approach in which the deformation of granular soils is regarded as a mutual interaction between particle contacts is one of the best ways to investigate the anisotropic elastic deformation of soils. In this study, a numerical program based on the theory of micromechanics is developed. Generalized contact model for the irregular contact surface of soil particles is adopted to represent the force-displacement relationship in each contact point far the realistic prediction of anisotropic moduli. To evaluate the model parameters, a set of analytical solutions of anisotropic elastic moduli is derived in the isotropic stress condition. A detailed procedure to determine the model parameters is proposed with emphasis on the practical applicability of micromechanical program to analyze the elastic behavior of the granular soils.

• KSTLE International Journal
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• v.6 no.1
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• pp.13-16
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• 2005

Friction characteristics at nano-scale of self-assembled monolayers (SAMs) having different chain lengths and end groups were experimentally studied.51 order to understand the effect of the chain length and end group on the nano-scalefriction: (1) two different SAMs of shorter chain lengths with different end groups such as methyl and phenyl groups, and (2)four different kinds of SAMs having long chain lengths (C10) with end groups of fluorine and hydrogen were coated on siliconwafer (100) by dipping method and Chemical Vapour Deposition (CVD) technique. Their nano-scale friction was measuredusing an Atomic Force Microscopy (AFM) in the range of 0-40 nN normal loads. Measurements were conducted at the scanning speed of 2 $mu$m/s for the scan size of 1$mu$m x 1 $mu$m using a contact mode type $Si_3N_4$ tip (NPS 20) that had a nominal spring constant0.58 N/m. All experiments were conducted at anlbient temperature (24 $pm$1$circ$C) and relative humidity (45 $pm$ 5%). Results showedthat the friction force increased with applied normal load for all samples, and that the silicon wafer exhibited highest frictionwhen compared to SAMs. While friction was affected by the inherent adhesion in silicon wafer, it was influenced by the chainlength and end group in the SAMs. It was observed that the nano-friction decreased with the chain length in SAMs. In the caseof monolayers with shorter length, the one with the phenyl group exhibited higher friction owing to the presence of benBenerings that are stiffer in nature. In the case of SAMs with longer chain length, those with fluorine showed friction values relativelyhigher than those of hydrogen. The increase in friction due to the presence of fluorine group has been discussed with respect tothe siBe of the fluorine atom.