• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.309-318
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• 2003

In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2005.11a
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• pp.339-347
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• 2005

A type IP-2 transport package should prevent a loss or dispersal of the radioactive contents and a more than $20\%$ increase in the maximum radiation level at any external surface of the package when it were subjected to the drop test under the normal conditions of transport. If a shielding thickness of IP-2 transport package is thick, a bolted lid type may prevent a loss or dispersal of the radioactive contents than the door type of ISO containers which are generally used as a type IP-2 transport package. In this paper, to evaluate the effect of drop directions on the bolt tension and the coherence of a bolt, the drop tests of preliminary small model are tested and evaluated for seven directions before the drop test of a type IP-2 transport package with a bolted lid type under the normal conditions of transport. Seven drop directions which are a bottom-vertical drop, a lid-vortical drop. a horizontal drop and four corner drops have been carried out. Using a force sensor, the bolt tension during the drop impact is measured. The coherence of bolt is evaluated by the difference between the fastening torque of bolt before a drop test and the unfastening torque of bolt after a drop impact.