• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.555-559
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• 2007

There are few representative humanoid robots including Japanese ASIMO from Honda and HUBO from KAIST. We cannot consider ASIMO and HUBO the perfect humanoid robots, however. The basic principles when developing humanoid robot is to make them to work in a similar way as human's movement of arm. In this paper, we proposed method of designing humanoid robotic arms based on the morphological.eurological analysis of human's arm tor robot's arm to work in a similar way as human's ann, and we also implemented arm movement control system to humanoids robot by using SERCOS communication.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.161-164
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• 2008

A realization for EMG signal sensing and vertical control system of robotizing arm is presented in this paper. The system is realized that a fine EMG bio-signals of humans' arm muscle are detected by surface electrode sensor, making a high performance amplifier and filtering, converting analog into digital signal and driving a servomotor for robotizing arm. The system is experimented by monitoring multiple step vertical control angles of robotizing arm corresponding to EMG signals in moving arm muscles. The experimental result are that the vertical control level is measured to around 2 degrees and mean error is 5% approximately.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.1
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• pp.1734-1738
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• 2019

Background: Stroke patients usually have arm weakness, which affects trunks and arms. Objective: To investigate the effects of paretic side and non-paretic side arm training on trunk control and upper limb functions. Design: Randomized Controlled Trial (single blind). Methods: Twenty patients with stroke in hospital were enrolled in the study. Twenty subjects were randomly assigned to paretic side arm training group (PATG, n = 10) or non-paretic side arm training group (NATG, n = 10). Trunk impairment scale (TIS) was used for trunk control, and box and block test (BBT) was used for upper limb function. Training was conducted for 4 weeks. Results: PATG showed significant difference in TIS (static balance, dynamic balance, coordination, total score) and BBT. NATG showed significant differences in static balance, and dynamic balance and total score except for coordination and BBT. PATG also showed a more significant difference in BBT and coordination and total score than NATG. Conclusions: The arm training performed on the paretic side are more effective than those performed on the non-paretic side in improving both upper limb function and trunk control in stroke patients.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• Journal of information and communication convergence engineering
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• v.9 no.6
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• pp.743-746
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• 2011

An implementation for surface EMG network analysis and vertical control system of robotic arm is presented in this paper. The transmembranes are simulated by equivalent circuit and cable equation for propagation to be converted to circuit networks. The implementation is realized to be derived from the detecting EMG signal from 3 electrodes, and EMG transmembrane signals of human arm muscles are detected by several surface electrodes, high performance amplifier and filtering, converting analog to digital data and driving a servomotor for spontaneous robotic arm. The system is experimented by monitoring multiple steps vertical control angles corresponding to biceps muscle movement. The experimental results are that the vertical moving control level is measured to around 2 degrees and mean error ranges are lower 5%.

• Transactions of Materials Processing
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• v.15 no.7 s.88
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• pp.490-495
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• 2006

The application of Al parts in passenger car has been increasing for the last decade, which gives many advantages such as better fuel efficiency, driving performance and safety. Control arm is one of the most preferably substituted parts from steel into Al alloys among numerous automotive parts. Currently, both wrought and cast Al alloys can find the application for control arm in passenger car. The balance between performance and cost determines a material as well as a fabrication process for a particular part model. In the present study, comparison among various processing techniques has been carried out to build up a data base for Al control arm fabrication.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1156-1161
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• 1990

The concept of the manipulability measure of the robotic mechanism is extended to the dual arm holding a single object. This is a measure of manipulating ability of the dual arm forming a closed kinematic chain in positioning and orienting the object. Dual arm manipulability measure is defined and compared to the single arm manipulability measure, and some properties are investigated.

• Transactions of Materials Processing
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• v.17 no.8
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• pp.613-618
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• 2008

As one way of cost innovation and weight saving of the automobile, the one-piece typed lower control arm was developed for the purpose of replacing the box typed lower control arm. In order to overcome less buckling strength of the one-piece typed lower control arm, the design parameters such as the high strength steel grade, the thickness and the shape of main panel were optimized based on Taguchi method.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.3
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• pp.87-92
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• 2011

This study analyzes structural stress and fatigue on control arm of automobile under nonuniform load. Maximum equivalent stress at bolt part is shown with 419.1MPa and the corner is deformed with maximum displacement of 1.1628mm. Among 3 cases of nonuniform fatigue loads applying on control arm, 'SAE bracket history' with the severest change of load becomes most unstable but 'Sample history' becomes most stable. In case of 'Sample history' with the average stress of $-10^5MPa$ to $10^5MPa$ and the amplitude stress of 0 MPa to $10^5MPa$, the possibility of maximum damage becomes 3%. This stress state can be shown with 6 times more than the damage possibility of 'SAE bracket history' or 'SAE transmission'. Safety and durability on automobile can be effectively improved by applying the fatigue analysis result on control arm.