• Journal of the Korean Society for Precision Engineering
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• v.24 no.1 s.190
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• pp.27-36
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• 2007

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 mm and the height should be below 40mm. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching straingages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.

• Journal of the Ergonomics Society of Korea
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• v.29 no.5
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• pp.783-788
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• 2010

This study was to examine to the CNS(Central Nervous System) responses of elderly drivers at the green, yellow, and red signal types. To examine this result, the older adults over age 65 who has more than 5 years of driving experience participated this experiment. In addition, we used audio-visual film clips as the stimulus than driving simulator, because the CNS reponses are sensitive to movement such as steering wheel. While subjects were watching one car's driving among green, yellow, or red signal types at the intersection, we measured their EEG(electroencephalogram) using monopolar electrodes from Fz, Cz and Pz sites. As a result, relative sizes of beta waves were changed due to the signal type conditions, and pre- and post-time of entering the intersection at the measured sites, separately. It suggests that the elderly drivers' CNS responses were different by the signal types.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1097-1102
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• 2007

This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2003.11a
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• pp.181-184
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• 2003

본 연구에서는 시각자극에 의하여 안구 운동 시 뇌의 학습, 인지, 집중력을 활성화시키기 위하여 무한대 회로($\infty$)를 이용하여 연구를 수행하였다. 뇌파 유도를 하기 위한 무한대 회로($\infty$)는 LED 모양을 하고 있으며 이것을 실행시키기 위하여 LabView 프로그램을 사용하였다. 시각자극을 제시하기 위하여 LED의 수를 각각 26, 51, 101개로 구분하였고 점멸 시간은 50, 150, 250㎳로 하였다. 시각 자극 제시 조건의 변화에 의하여 유도되는 뇌파를 Fz, Cz, Pz, Fpl, O1, O2 부위에서 측정한 결과 LED의 수가 적고 점멸 시간이 길어질수록 $\beta$파의 비율이 증가하는 경향을 보였다. 이 결과는 LED의 점멸 움직임의 불연속적인 요인에 의하여 $\beta$파의 비율이 증가했을 것이라 생각한다. 본 연구를 통하여 얻어진 결론을 역이용하여 원하는 뇌파를 유도할 수 있는 시각 제시 방법이 완성되어 진다면, 이는 뇌기능 장애 환자의 재활이나 학습 장애의 아동에게 있어 효과적인 방법이 될 것이다.

• Journal of Powder Materials
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• v.22 no.3
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• pp.181-186
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• 2015

In this study, the effect of the friction stir welding (FSW) was compared with that of the gas tungsten arc welding (GTAW) on the microstructure and microhardness of Cu-Ni alloy weldment. The weldment of 10 mm thickness was fabricated by FSW and GTAW, respectively. Both weldments were compared with each other by optical microstructure, microhardness test and grain size measurement. Results of this study suggest that the microhardness decreased from the base metal (BM) to the heat affected zone (HAZ) and increased at fusion zone (FZ) of GTAW and stir zone (SZ) of FSW. the minimum Hv value of both weldment was obtained at HAZ, respectively, which represents the softening zone, whereas Hv value of FSW weldment was little higher than that of GTAW weldment. These phenomena can be explained by the grain size difference between HAZs of each weldment. Grain size was increased at the HAZ during FSW and GTAW. Because FSW is a solid-state joining process obtaining the lower heat-input generated by rotating shoulder than heat generated in the arc of GTAW.

• Korean Journal of Applied Biomechanics
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• v.30 no.1
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• pp.27-35
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• 2020

Objective: The purpose of this study was to investigate the influence of clubhead velocity through regression analysis on the magnitude and time difference of the forward-backward, mediolateral, and vertical ground reaction peak forces generated by force plate during golf swing. Method: 16 subjects (age: 20.5±4.2 yrs, height: 176.0±5.4 cm, weight: 77.8±5.9 kg, handy: 2.4±1.7) who is elite golf player in high school and university, participated in this study. The study method adopted three-dimensional analysis with 8 cameras and ground reaction force measurement with two force plate. The analysis variables were clubhead velocity, and ground reaction analysis variables set four events in each graph based on the peak forces commonly generated in Fx, Fy, and Fz graphs of the ground reaction data during the golf swing. Results: As a result of analyzing the influence of ground reaction magnitude difference on clubhead velocity, the influence on clubhead velocity was ym4, zm1, xm4, zm2. The larger ym4, xm4, zm1, the fasterthe clubhead velocity, but the smallerthe zm2, the faster the clubhead velocity. And in time difference, the influence on the clubhead velocity was in the order of xt4, zt1, zt3. The shorter xt4, zt1, zt3 showed faster clubhead velocity. Conclusion: The leftfoot played a leading role in increasing the velocity of the clubhead. Although the result was caused by the interaction of the right foot and the left foot during the swing, the role of the left foot is relatively large.

• Journal of Welding and Joining
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• v.27 no.2
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• pp.69-75
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• 2009

The effects of welding speed were investigated on penetration characteristics, defects and mechanical properties including formability test in Nd:YAG laser welded 1000MPa grade DP steels. A shielding gas was not used and bead-on-plate welding was performed with various welding speeds at 3.5kW laser power. Defects of surface and inner beads were not observed in all welding speeds. As the welding speed increased, the weld cross-section varied from the trapezoid having wider bottom bead, through X type, finally to V type in partial penetration range of welding speeds. The characteristic of hardness distribution was also investigated. The center of HAZ had maximum hardness, followed by a slight decrease of hardness as approaching to FZ. Significant softening occurred at the HAZ near BM. Regardless of the welding speed, the weld showed approximately the same hardness distribution. In the perpendicular tensile test with respect to the weld direction, all specimens were fractured at the softening zone. In the parallel tensile test to the weld direction, the first crack occurred at weld center and then propagated into the weld. Good formability over 80% was taken for all welding conditions.

• Korean Journal of Applied Biomechanics
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• v.25 no.3
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• pp.257-263
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• 2015

Objective : The purpose of this study was to investigate the effect of genu valgum on the body mass index, movement of lower limb joints, and ground reaction force. Methods : Gait patterns of 30 college students with genu valgum were analyzed and the static Q angle of the femur was measured for selecting genu valgum of the subjects. To analyze the kinetic changes during walking, the six-camera Vicon MX motion analysis system was used. The subjects were asked to walk 12 meters using the more comfortable walking method for walking. After they walked 12 meters more than 10 times, their most natural walking patterns were chosen three times and analyzed. Results : As a result of measuring a relationship between genu valgum and Q-angle, as the Q-angle increases, it showed a genu valgum also increased. Body Mass Index showed a significant difference between the groups was higher in the genu valgum group.(p<.001). The analysis result showed that genu valgum had a significant effect on the internal rotation moment in the hip joint(p<.05). Also, genu valgum had a significant effect on the internal rotation moment of the knee joint(p<.05). The comparative analysis of the Medial-Lateral ground reaction force in the genu valgum group showed a tendency to increase the medial ground reaction force(p<.05). The vertical ground reaction forces of the middle of the stance phase(Fz0) showed a significant increase in genu valgum group(p<.05), in particular the results showed a decrease in the early stance phase(p<.001). Conclusion : In conclusion, the change in body mass is considered to be made by proactive regular exercise for improvement of the genu valgum. In addition, the prevention of the deformation caused by secondary of the genu valgum in this study may be used as an indicator of the position alignment rehabilitation for structural and functional improvements. Applying a therapeutic exercise program for the next lap will require changes in posture alignment.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.357-367
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• 2013

The purposes of this study were investigated physical compensation for gait on induced knee stiffness in normal subjects. Ten subjects were participated in the experiment(age: $26.0{\pm}6.3$ yrs, height: $175.5{\pm}5.3$ cm, weight: $69.1{\pm}6.1$ kg). The study method adopted 3D analysis with five cameras and ground reaction force with two force-plate. Induced knee stiffness level were classified as gait pattern on ROM of knee(free level, $30^{\circ}$ restriction level, fix level). The results were as follows; In angular displacement of hip joint, left hip joint was the more extended in mid-stance on induced right knee stiffness. In angular displacement of knee joint, there was no physical compensation on induced right knee stiffness, but free knee level gait was more flexed in swing phase of right knee joint. In angular displacement of ankle joint, right ankle joint was the more dorsiflexed on induced right knee stiffness, and $30^{\circ}$ restriction level and fix level gait were less plantarflexed in TO2. In trunk tilt, free and $30^{\circ}$ restriction level gait was more backward tilt on induced right knee stiffness. In ROM of each joint, right knee joint was more larger and trunk tilt was more lower on induced right knee stiffness. In GRF, Fx was more bigger lateral force in free and $30^{\circ}$ restriction level gait, and was more bigger medial force in fix level gait. Fy was more bigger propulsion force in free level gait, and was was more bigger braking force in $30^{\circ}$ restriction level gait. Left braking force in $30^{\circ}$ restriction level gait was more bigger. Fz was no significant.

• International Journal of Oral Biology
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• v.34 no.2
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• pp.53-59
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• 2009

Periodontal ligament (PDL) tissue is a connective tissue that is interposed between the roots of the teeth and the inner wall of the alveolar bone socket. PDL is always exposed to physiologic mechanical force such as masticatory force and PDL cells play important roles during orthodontic tooth movement by synthesizing and secreting different mediators involved in bone remodeling. The Wnt/${\beta}$-catenin signaling pathway was recently shown to play a significant role in the control of bone formation. In the present study, we applied cyclic tensile stress of 20% elongation to cultured human PDL cells and assessed its impact after six days upon components of the Wnt/${\beta}$-catenin signaling pathway. RTPCR analysis showed that Wnt1a, Wnt3a, Wnt10b and the Wnt receptor LRP5 were down-regulated, whereas the Wnt inhibitor DKK1 was up-regulated in response to these stress conditions. In contrast, little change was detected in the mRNA expression of Wnt5a, Wnt7b, Fz1, and LRP6. By western blotting we found decreased expression of the ${\beta}$-catenin and p-GSK-3${\beta}$ proteins. Our results thus show that mechanical stress suppresses the canonical Wnt/${\beta}$-catenin signaling pathway in PDL cells.