• KIEAE Journal
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• 제10권4호
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• pp.59-66
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• 2010

Natural ventilation is major strategy of 'sustainable building'. It aims to supply fresh air to the indoor, and to remove heat from the indoor during summer. In the latter point of view, natural ventilation can be grouped into two main strategies, daytime ventilation and night cooing. If we take advantage of these two natural ventilation strategies, indoor thermal comfort can be significantly improved. This study focused on grasping the current situation and problem of indoor thermal comfort of the naturally ventilated residential buildings to seek for direction of later studies. Additionally, thermal comfort of residence where the interior blind and exterior insulation were applied was analyzed. It was analyzed that the percentage of the time which satisfy the indoor acceptable operative temperature during summer was 90 ~ 95% and the heat control performance of natural ventilation has a limitation. When the interior blind and exterior insulation were applied, indoor thermal comfort was significantly improved. However, it still need more improvement.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.1067-1071
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• 1997

A new type of gripper for micrometer-size objects is developed using piezoelectric multi-layer benders. It is composed of three chopsticks, two of which are designed to grip micro-objects. The third one is reserved for helping the two when objects are released from the chopsticks. It is well known that a micro object is much easier to grasp than to release it after holding it. The electrostatic force between the chopsticks and an object is believed to be the main cause of adhesion in a dry environment. The surface tension becomes very important when liquids are present or in a liquid. The third auxiliary chopsticks is introduced to solve there surface effects. All the three chopsticks are made of tungsten wires with sharpened ends by etching. When grasping microparts, the two chopsticks are utilized, and, when releasing them anywhere the parts are located, the third one reduces the electrostatic force between the objects and the chopstick may be to help the other two chopsticks to hold an objects in a desired orientation. We constructed the three chopstick gripoer for micro objects and test their function by holding and releasing an object of a diameter of 100 micrometers. We make use of open loop voltage control. The bender displacement resolution is sub-micrometer. The gripping forces, about tens of mN are obtained. The experiment shows that the third auxiliary chopstick functions effectively.

• 한국공작기계학회논문집
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• 제17권6호
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 한국지능시스템학회논문지
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• 제17권7호
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• pp.862-868
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• 2007

일반적으로 인간손에 있는 검지 손가락의 평면운동은 3개의 관절운동에 의해 이루어진다. 이러한 운동을 위해서는 기본적으로 역기구학 문제를 풀어야 하는데, 이것은 로봇 손을 이용한 파지나 조작행위에 있어서 필수적이다. 따라서 본 논문에서는 이러한 로봇 손가락의 역기구학 문제를 지능적으로 해결할 수 있는 뉴럴 러닝에 기반한 방법을 제안하고자 한다. 제안된 방법은 뉴럴 러닝에 있어서 동적인 학습율을 적용함으로써 보다 빠른 학습이 가능하고, 생체모방에 근거한 인간 손가락의 운동특성을 고려하는 것이 특징이다. 제안된 방법의 유용성을 입증하기 위하여 시뮬레이션을 수행한다.

• 한방재활의학과학회지
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• 제27권2호
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• pp.101-108
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• 2017

We researched 3 patients diagnosed as Lateral epicondylitis (Tennis elbow). We considered it as tendinosis including irregular collagen fiber's pattern. So, acupuncture therapy and musculotendinous releasing manual therapy were used to treat the patients. We measured their pain and functional disorder by visual analogue scale (VAS), Patient-Rated Tennis Elbow Evaluation (PRTEE), and a dynamometer before and after treatment. As a result, VAS and PRTEE significantly reduced and grasping power was also improved. Therefore, we conclude that the acupuncture therapy with musculotendinous releasing manual therapy is an effective way to treat Lateral epicondylitis. But there are limits on this study due to insufficient number of cases, absence of control group and absence of follow-up after last treatment. Further studies will be needed.

• 로봇학회논문지
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• 제5권2호
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Clinical Endoscopy
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• 제51권6호
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• pp.552-557
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• 2018

Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeutic interventions. These procedures require precise maneuvers of instruments, execution of force, efficient transmission of force from the operator to the point of application, and sufficient dexterity in the mobilization of endoscopic surgical instruments. The conventional endoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomy of the colon makes inserting, moving, and orientating the endoscope difficult. Exerting excessive pressure can cause looping of the endoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhanced systems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks such as apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systems in the context of their applications to advanced therapeutic colonoscopy.

• 한국사회복지학
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• 제57권1호
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• pp.31-60
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• 2005

본 연구는 '장애인의 임파워먼트 과정은 어떠한가'라는 연구 질문을 가지고 장애인의 성인기 이전 임파워먼트 과정과 결과를 심층적으로 탐색한 것이다. 이를 위해 장애대학생 11명을 심층면접 한 후, 스트라우스와 코빈(Strauss & Corbin, 1998)의 근거이론 방법을 활용하여 분석하였다. 연구 참여자들의 근거자료를 분석한 결과 장애인의 성인기 이전 임파워먼트 과정의 중심현상은 '한계를 딛고 일어섬'인 것으로 분석되었다. 이에 대한 인과적 조건은 '그냥 살음'과 '장애 인식'이며, 맥락적 조건은 '배제당함', '그래도 바래봄', '좌절함'으로 나타났다. 장애인들은 한계를 딛고 일어서는 과정에서 '끈기있게 해냄'과 '지지 받음'의 조건에 의해 중재 받았으며, '생활방식을 터득함', '주도적으로 살음'의 상호작용 전략을 활용하는 것으로 나타났다. 또한 임파워먼트의 결과로 장애인은 '자기조절감을 얻음', '배려심을 갖게 됨', '사회에 참여함'의 모습을 갖는 것으로 파악되었다. 이러한 결과를 통해 핵심범주는 '장애인으로서 주도적인 삶의 방식을 터득하여 당당하게 함께 살아감'으로 구체화되었고, 이는 장애인 임파워먼트의 3유형 즉, 사회변화 주도형, 개인발전 추구형, 소극적 노력형으로 유형화할 수 있었다. 장애인의 임파워먼트는 '단절단계', '일어섬의 단계', '터득하는 단계', '당당하게 함께 하는 단계'의 과정으로 이루어지며 특히 장애인의 임파워먼트는 한번으로 종결되는 것이 아니라 생애주기에 따라 반복되고 발전하는 순환적 구조를 가지는 것으로 나타났다. 이와 같은 연구 결과는 장애인의 성인기 이전 발달과정에 기초하여 이들의 보편성과 특수성에 기초한 임파워먼트 과정 및 결과를 규명함으로써 이론 구축 및 장애인복지에 그 함의가 있다.

• 대한의용생체공학회:의공학회지
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• 제38권1호
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• pp.32-42
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• 2017

The aim of this study was to evaluate driving performance of Healthy and disabled groups (with or without driver's license) to control steering wheel by using steering assistive devices in the driving simulator. The persons with partial loss of use of all four limbs have problems in operation of the motor vehicle because of functional loss to operate steering wheel. Therefore, if steering assistive devices for grasping the steering wheel are used to control the vehicle on the road in persons with disabilities, the disabled persons can improve mobility in their community life by driving a motor vehicle safely. Ten healthy subjects (with or w/o driver's license) and ten subjects with physical disabilities (with or w/o driver's license) were involved in this study to evaluate driving performance to operate steering wheel by using four types of steering assistive devices (Single-pin, V-grip, Palm-grip, Tri-pin) in driving simulator. STISim Drive 3 software was used to test the steering performance in four scenarios: straight road at low and high speed of vehicle (40 km/h and 80 km/h), curved road at low and high speed of vehicle (40 km/h and 80 km/h). This study used two-way ANOVA in order to compare the effects of two factors (type of steering assistive device and subject group) in the three dependent variables of driving performance (the lateral position of vehicle, standard deviation of lateral position representing the variation of the left and right movement of the vehicle and the number of line crossing). The mean values of the three dependent variables (lateral position, standard deviation of lateral position, the number of line crossing) of steering performance were statistically significantly smaller for the healthy or disabled groups with driver's license than the other groups without driver's license on the curved road at high speed of vehicle compared to low speed of vehicle.