• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.15-18
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.805-809
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• 2003

We developed a human-sized BWR(biped walking robot) named KUBIR1 driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIR1 was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize the information on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interface was developed based on the OpenGL tool. Through the graphic interface, the control input of KUBIR1 is performed.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.507-510
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• 2002

We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

• 한국정밀공학회지
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• 제22권10호
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• pp.218-224
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• 2005

Arthroscopy is a surgical procedure orthopedic surgeons use to visualize, diagnose and treat problems inside a joint. In usual, since the arthroscopic surgery is more accurate and minimally invasive than through 'open' surgery, the surgery of knee, shoulder, and wrist using auto-shaver is increasing in recent. However, repetitive use of arthroscopic-shaver may induce the second infection, hence the disposable arthroscopic-shaver should be developed. In this paper, a unique power transmission mechanism using DC motor, gear trains, and link mechanism is proposed for disposable arthroscopic-shaver and some test results of tissue cutting are introduced.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.709-717
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• 2013

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

• 대한기계학회논문집A
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• 제39권12호
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• pp.1207-1212
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• 2015

진동리퍼는 암반의 파쇄와 리핑 작업을 동시에 하기 위해서 개발된 장비이며 기존의 암반 파쇄용 유압 브레이커와 작동 원리가 다르다 진동리퍼의 기진력을 투스로 전달하는 기어박스-생크 용접부는 매우 중요한 부분이며 진동리퍼의 기계적 건전성의 예측이 필수적이다. 본 연구는 생크소재 및 용접재료의 변화에 따른 접부의 피로수명 예측을 목적으로 하고 있다. 생크의 재료는 Hadox-hituf, AR 400을 사용하였고 접금속은 CSF-71T, CSF-81T를 사용하였다. 피로시험은 응력비 R=0에서 각 재료조건에 대해서 수행하였다. P-S-N 선도는 JSME-S002 규정에 맞춰 파괴확률 10%, 50%, 90%에 대해서 나타냈으며 수명 예측 식을 도출하였다.

• 패션비즈니스
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• 제27권5호
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• pp.93-107
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• 2023

This study aimed to design a knee brace with dry electrode EMS (Electrical Muscle Stimulation) for elite badminton players suffering from knee pain and assess its effectiveness in relieving pain and improving mobility. The assessment measured knee joint range of motion (ROM), Sargent jump height, and pain perception using a visual analog scale (VAS). Four experimental groups were established: stability, pain induction after 100 squats, muscle soreness induction with a regular knee brace, and muscle soreness induction with the EMS knee brace. The most suitable knee brace was selected from four samples to design the EMS knee brace. The conductive fabric was integrated into the inner surface of the knee brace to enhance EMS conductivity for the quadriceps muscles. Tensile strength tests showed that the dry electrode did not significantly affect the physical functionality of the knee brace.Regarding knee joint ROM and Sargent jump height, the EMS knee brace outperformed muscle soreness induction with a regular knee brace and wearing a standard knee brace. VAS measurements demonstrated that the EMS braces effectively alleviated pain perception in most cases. The results indicate the potential for developing EMS braces to alleviate pain and prevent injuries for athletes across various sports.