• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1109-1112
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• 2004

This paper presents a high sensitive force sensing module to measure machining forces for a tip-based nanopatterning instrument. The force sensing module utilizing a leaf spring mechanism and a capacitive displacement sensor has been designed to provide a measuring range from 80$\mu$N to 8N. This force sensing module is mounted on a PZT driven in-feed motion stage with 1 nm resolution. The sample can be moved by a X-Y scanning motion stage with 5 nm resolution. In the patterning experiments, the machining forces were controlled and monitored by the force sensing module. Then, the patterned sample was measured by AFM. Experimental results demonstrated that the developed force sensing module can be used as an effective sensing device in the nanopatterning operation.

• 산업기술연구
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• 제21권A호
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• pp.89-96
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• 2001

A low cost force./moment sensor that can be used in the robot teaching task is presented. Force Sensing Resistor is used as the transducer. The principle of force/moment detection is explained, the architecture of the sensor is shown, and the measurement of the force/moment is presented. The force/moment sensor shown in this work is not meant to be used in a precise force/moment control, but it is intended to be used in the robot teaching where low accuracy can be tolerated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2451-2456
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• 2003

In biological cell manipulation, manual thrust or penetration of an injection pipette into an egg is currently performed by a skilled operator, relying only on visual feedback information. Massive load of various micro injection of either genes, fluid or cells in the postgenomic era calls a more reliable and automatic micro injection system that can test hundreds of genes or cell types at a single experiment. We initiated to study cellular force sensing in zebrafish eggs as the first step for the development of a more controllable micro injection system by any inexperienced operator. Zebrafish eggs at different developmental stages were collected and an integrated biomanipulation system was employed to measure cellular force during penetrating the egg envelope, the chorion. First of all, the biomanipulation system integrated with cellular force sensing instrument is implemented to measure the penetration force of cell membranes and characterize mechanical properties of zebrafish embryo cells. Furthermore, implementation of cellular force sensing system and calibration are presented. Finally, the cellular force sensing of penetrating cell membranes at each developmental stages was experimentally performed. The results demonstrated that the biomanipulation system with force sensing capability can measure cellular force at real-time while the injection operation is undergoing. The magnitude of the measured force was in the range of several hundreds of uN. The precise real-time measurement should provide the first step forwards for the development of an automatic and reliable injection system of various materials into biological cells.

• 한국정밀공학회지
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• 제22권12호
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• pp.42-50
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• 2005

This paper presents an ultra precision machining system using a high sensitive force sensing module to measure machining forces and penetration displacement in a tip-based nanopatterning. The force sensing module utilizes a leaf spring mechanism and a capacitive displacement sensor and it has been designed to provide a measuring range from 80 ${\mu}N$ to 8 N. This force sensing module is mounted on a PZT driven in-feed motion stage with 1 nm resolution. The sample can be moved by X-Y scanning motion stage with 5 nm resolution. In nano indentation experiments and patterning experiments, the machining forces were controlled and monitored by the force sensing module. Then, the patterned samples were measured by AFM. Experimental results demonstrated that the developed system can be used as an effective device in nano indentation and nanopatterning operation.

• 산업기술연구
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• 제19권
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• pp.415-421
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• 1999

In this paper, a 2D X-Y table, two axes of which are symmetrical, and a force sensing device are constructed, which comprise a 2D haptic interfacing apparatus. Two DC motors are used for actuating the two axes of the table and two precision encoders for sensing the position of each axis. Four PZTs are used for sensing the direction and the magnitude of the 2D force applied to the force sensing device by the user. The performance of the 2D haptic interface device is tested by 2D virtual object recognition experiments.

• Smart Structures and Systems
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• 제15권4호
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• pp.1103-1120
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• 2015

A self-sensing magnetorheological (MR) damper with embedded piezoelectric force sensor has recently been devised to facilitate real-time close-looped control of structural vibration in a simple and reliable manner. The development and characterization of the self-sensing MR damper are presented based on experimental work, which demonstrates its reliable force sensing and controllable damping capabilities. With the use of experimental data acquired under harmonic loading, a nonparametric dynamic model is formulated to portray the nonlinear behaviors of the self-sensing MR damper based on NARX modeling and neural network techniques. The Bayesian regularization is adopted in the network training procedure to eschew overfitting problem and enhance generalization. Verification results indicate that the developed NARX network model accurately describes the forward dynamics of the self-sensing MR damper and has superior prediction performance and generalization capability over a Bouc-Wen parametric model.

• 한국정밀공학회지
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• 제32권3호
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• pp.285-292
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• 2015

This paper presents a wireless ground reaction force (GRF) sensing system for ambulatory GRF recording. The system is largely divided into three parts: force sensing modules based on optical sensor, outsole type frame, and embedded system for wireless communication. The force sensing module has advantages of the low height, robustness to the moment interference, and stable response in long term use. In simulation study, the strain and stress properties were examined to satisfy the requirements of the GRF sensing system. Four sensing modules were mounted on the toe, ball, and heel of foot shaped frame, respectively. The GRF signals were extracted using Micrpcontroller unit and transferred to the smart phone via Bluetooth communication. We measured the GRF during the normal walking for the validation of the continuous recording capability. The recorded GRF was comparable to the off the shelf stationary force plate.

• 한국지반공학회논문집
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• 제40권2호
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• pp.115-123
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• 2024

응력은 비가시 물리량이므로, 지반 내부에서 이를 측정하기 위해서는 토압계가 필요하다. 기존의 스트레인 게이지 기반 토압계는 큰 강성을 가지며, 이는 지반 내부 응력을 교란시켜 토압 측정의 정확성에 영향을 준다. 박막형 압전센서는 얇고 유연하므로, 이를 활용할 경우 지반 내부 응력의 교란을 최소화하여 지중응력을 측정할 수 있다. 본 연구에서는 박막형 압전 센서를 활용하여 지반 내부의 응력을 측정하기 위한 시스템을 구축하였다. 박막형 압전 센서를 교정하기 위한 챔버를 제작하여 사질토 지반 내부에 매설된 박막형 압전 센서의 측정 변동성과 센서의 감지 영역에 부착된 퍽으로 인한 측정 토압의 재현성 향상을 반복실험을 통해 확인하였다.

• 전기학회논문지
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• 제63권12호
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• pp.1722-1725
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• 2014

An experimental investigation of COP(center of pressure) was performed using FSR(force sensing resistor) and force plate. The FSR sensor system is used as effective device to detect the movement of human body in activities of daily living. It has been shown that the FSR provides the trajectories of COP with repeatability and reliability.

• 대한기계학회논문집A
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• 제24권11호
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• pp.2688-2695
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• 2000

In multi-axis force sensor, compliance matrices representing structural behaviour of internal sensor bodies play an important role in decoupled sensing and accuracy, Recently, error propagation through compliance matrices has been studied via approximation approach. However the upper bound of measured force error has not been known. In this paper, error propagation in force sensing is analysed in a unified way when both strain measurement error and compliance matrix error exist, and the upper bound of the measured force error is derived exactly(not approximately). The analysis is examined through a numerical example.