• Journal of Sensor Science and Technology
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• v.15 no.4
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• pp.277-283
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• 2006

We presented that fabrication process and characteristics of 3 axes flexible tactile sensor available for normal and shear force fabricated using Si micromachining and packaging technologies. The fabrication processes for 3 axes flexible tactile sensor were classified in the fabrication of sensor chips and their packaging on the flexible PCB. The variation rate of resistance was about 2.1 %/N and 0.5 %/N in applying normal and shear force, respectively. The flexibility of fabricated 3 axes flexible tactile sensor array was good enough to place on the finger-tip.

• PNF and Movement
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• v.20 no.1
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• pp.135-145
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• 2022

Purpose: The purpose of this study was to investigate the association between cognitive and motor inhibition by comparing muscle activity and ground reaction force during unplanned gait termination according to reaction time measured through the stop-signal task. Methods: Sixteen young adults performed a stop-signal task and an unplanned gait termination separately. The subjects were divided into fast and slow groups based on their stop-signal reaction time (SSRT), as measured by the stop-signal task. Electromyography (EMG) and ground reaction force (GRF) were compared between the groups during unplanned gait termination. The data for gait termination were divided into three phases (Phase 1 to 3). The Mann-Whitney U test was used to compare spatiotemporal gait parameters and EMG and GRF data between groups. Results: The slow group had significantly higher activity of the tibialis anterior in Phase 2 and Phase 3 than the fast group (p <0.05). In Phase 1, the fast group had significantly shorter time to peak amplitude (TPA) of the soleus than the slow group (p <0.05). In Phase 2, the TPA of the tibialis anterior was significantly lower in the fast group than the slow group (p <0.05). In Phase 3, there was no significant difference in the GRF between the two groups (p >0.05). There were no significant difference between the two groups in the spatiotemporal gait parameters (p >0.05). Conclusion: Compared to the slow group, the fast group with cognitive inhibition suppressed muscle activity for unplanned gait termination. The association between SSRT and unplanned gait termination shows that a participant's ability to suppress an incipient finger response is relevant to their ability to construct a corrective gait pattern in a choice-demanding environment.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.1B
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• pp.95-109
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• 2008

We numerically analyzed the nonlinear shoaling, a plunging breaker and its accompanying energetic suspension of sediment at a bed, and a redistribution of suspended sediments by a down rush of preceding waves and the following plunger using SPH with a Gaussian kernel function, Lagrangian Dynamic Smagorinsky model (LDS), Van Rijn's pick up function. In that process, we came to the conclusion that the conventional model for the tractive force at a bottom like a quadratic law can not accurately describe the rapidly accelerating flow over a swash zone, and propose new methodology to accurately estimate the bottom tractive force. Using newly proposed wave model in this study, we can successfully duplicate severely deformed water surface profile, free falling water particles, a queuing splash after the landing of water particles on the free surface and a wave finger due to the structured vortex on a rear side of wave crest (Narayanaswamy and Dalrymple, 2002), a circulation of suspended sediments over a swash zone, net transfer of sediments clouds suspended over a swash zone toward the offshore, which so far have been regarded very difficult features to mimic in the computational fluid mechanics.

• Journal of Dental Rehabilitation and Applied Science
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• v.24 no.1
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• pp.77-89
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• 2008

The purpose of this study was to evaluate internal conical abutment sinking and fitness according to the loading condition. In this study, Alloden implant fixture and two abutment(conventional, FDI) systems were used. Each abutment was applied 1 time of finger force, 3 times of malleting force, 5 times of 20kg and extra several times to the fixture until the amount of abutment singking showed no change. Then, the length of abutment to fixture which was binding lightly with no pressure state was measured by Vernier caliper. After loading application, the length was remeasured and the amount of sinking was calculated. The implant was buried in unsaturated polyester (Epovia, Cray Valley Inc. Korea) for making a comparison between the change of length and fitness of abutment-fixture connection part. Then All samples were cross-sectioned with high speed precision cut-off(accutom-5, Struers, Denmark). Finally, The result were observed and analyzed using FE-SEM (field emission scanning electron microscopy).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1741-1747
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• 2010

This work presents a study on the design of an economic service robot hand for tele-presence manipulators. The conceptual design of new robot hand is derived from biomimetics approach. Guided by the analysis of human arm' musculoskeletal structure, the fingers are actuated by cables and actuators in the forearm. High tension in the cables is achieved by screw-nut mechanism driven by DC motors. A set of combination springs is incorporated in each of the screw-nut mechanism for easy control of gripping force. The first prototype revealed difficulties with finger control and coupling problem between gripping force and wrist movement. The solutions to these problems have been derived from the contradiction analysis of TRIZ. The second design has been verified by tests on various objects with different weight and shape for full range of wrist motion.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.3
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• pp.233-243
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• 2017

This paper proposes a structure of direct-printed flexible tactile-sensor. These flexible tactile sensors are based on pressure-sensing materials that allow pressure to be measured according to resistance change that in turn results from changes in material size because of compressive force. The sensing material consists of a mixture of multi walled carbon nanotubes (MWCNTs) and TangoPlus, which gives it flexibility and elasticity. The tactile sensors used in this study were designed in the form of array structures composed of many lines so that single pressure points can be measured. To evaluate the performance of the flexible tactile sensor, we used specially designed signal-processing electronics and tactile sensors to experimentally verify the sensors' linearity. To test object grasp, tactile sensors were attached to the surface of the fingers of grippers with three degrees of freedom to measure the pressure changes that occur during object grasp. The results of these experiments indicate that the flexible tactile sensor-based robotic gripper can grasp objects and hold them in a stable manner.

• Journal of Welding and Joining
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• v.27 no.2
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• pp.44-50
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• 2009

The characteristics of arc pressure, current density and heat flux distribution are important factors in understanding physical arc phenomena, which will have a marked effect on the penetration, size and shape of a weld in TIG welding. The purpose of this study is to find out the effect of the heat flux on the melting efficiency and penetration shape in TIG welding using the results of the previous investigators. The conclusions obtained permit to draw a proper method which derived the heat flux distributions by arc pressure distribution measurements, but previous researchers calculated heat flux and current distribution with the heat intensity measurements by the calorimetry. Heat flux of Ar gas arc was concentrated at the central part and distributed low from the arc axis to the radial direction, that of He mixing arc was lower than that of Ar gas, and it was wide distributed to radial direction. That showed a similar characteristic with the Nestor's by calorimetry calculated values. Throughout heat flux drawn in this study was discussed melting efficiency and penetration shape on Ar gas and He mixing gas arc.

• Journal of the Ergonomics Society of Korea
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• v.24 no.4
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• pp.15-21
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• 2005

Use of a glove made of materials with a low elasticity decreases the performance of the hand such as agility, dexterity, range of motion, and grip strength. The present study examined if the adverse effects of a low-elastic glove can be reduced by a design which accommodates the changes of hand surface lengths by hand motion. Two glove designs which provide patches of elastic cloth and pleats at the finger joints and knuckle were developed by considering the hand surface length changes, and then compared with two conditions(bare hand and conventional glove design that does not consider the dynamic characteristics of the hand dimensions) in terms of completion time in peg board insertion task, maximum grip strength, discomfort in hand motion, discomfort in force exertion, and overall discomfort by 24 right-handed participants. The test results confirmed that wearing of a glove significantly reduced the agility and grip strength capability of the hand and indicated that the novel designs were effective to lessen the performance decreases compared to the conventional design. Also, of the glove designs, the pleat glove design was found most preferred for both better hand performance and less subjective discomfort.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.88-94
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• 2016

In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.