• 한국운동역학회지
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• 제26권2호
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• pp.197-204
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• 2016

Objective: The purpose of this study was to analyze the kinematic factors of motion during air pistol shooting. Method: This study aimed to investigate changes in forces during movement and determine the factors that affect changes in force during the first, middle, and last periods of shooting an air pistol. Two ground reaction force systems (force platform), SCATT (a shooting training system), and EMG (electromyogram) to measure the action potentials in the muscles of the upper body were used in this study. Four university air pistol players (age: 19.75 years, height: 175.50 cm, body mass: $69.55{\pm}11.50kg$, career length: $6.25{\pm}6years$) who are training to progress to a higher rank were enrolled. Results: In terms of the actual shooting results, the mean score in the middle section was $42.48{\pm}1.74$ points, higher than those in the first and the last periods when using SCATT. The gunpoint moved 13.48 mm more vertically than horizontally in the target trajectory. With respect to action potentials of muscles measured using EMG, the highest action potentials during the aiming-shooting segments, in order higher to lower, were seen in the trapezius (intermediate region), trapezius (superior region), deltoid (lateral), and triceps brachii (long head). The action potentials of biceps brachii and brachioradialis turned out to be high during grasping motion, which is a preparatory stage. During the final segment, muscle fatigue appeared in the deltoid (lateral), biceps brachii (long head), brachioradialis, and trapezius (intermediate region). In terms of the ground reaction force, during the first period of shooting, there was a major change in the overall direction (left-right $F_x$, forward-backward $F_y$, vertical $F_z$) of the center of the mass. Conclusion: The development and application of a training program focusing on muscle groups with higher muscle fatigue is required for players to progress to a higher rank. Furthermore, players can improve their records in the first period if they take part in a game after warming up sufficiently before shooting in order to heighten muscle action potentials, and are expected to maintain a consistent shooting motion continuously by restoring psychological stability.

• 대한안전경영과학회지
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• 제16권4호
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• pp.371-378
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• 2014

Manual materials handling tasks are the main risk factors for the work-related musculoskeletal disorders. Many assistant tools for manual materials handling are being used in various kind of industries. One of them is a 4-wheeled cart which is widely used in manufacturing factories, hospitals, etc. The major force required to control the 4-wheeled cart is pushing and pulling. There are two types of handles being used for the 4-wheeled cart : vertical type (two vertical handles), and horizontal type (one horizontal handle). This study tried to investigate the pushing forces and subjective discomforts (hand/writst, shoulder, low back, and overall) of the two handle types with different handle height and distance conditions. Twelve healthy male students (mean age = 23.4 years) participated in the experiment. The independent variables were handle angle (horizontal, vertical), handle height (low, medium, high), and handle distance (narrow, medium, wide). The full factorial design was used for the experiment and the maximum pushing forces were measured in 18 different conditions ($2{\times}3{\times}3$). Analysis of variance (ANOVA) procedure was conducted to test the effects of the independent variables on the pushing force and discomfort levels. Handle height and angle were found to be the critical design factors that affect the maximal pushing forces and subjective discomfort. In the middle height, subjects exerted higher pushing forces, and experience lower discomfort levels compared to the high, and low height. There was no statistical influence of the handle distance to the pushing forces and subjective discomfort levels. It was found out that the effects of the handle angle (horizontal and vertical) on both pushing force and subjective discomfort were statistically significant (p < 0.05). The vertical handle revealed higher pushing force and lower discomfort level than the horizontal handle. The reason for that was thought to be the different postures of the hand when grasping the handles. The horizontal handle induced pronaton of the hand and made hand posture more deviated from the neutral position.

• 로봇학회논문지
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• 제7권1호
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• pp.9-19
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• 2012

This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual-arm manipulator grasps a fixed object and is posed, the dual-arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy-cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end-effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual-arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• 대한물리의학회지
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• 제3권4호
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• pp.247-254
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• 2008

Purpose : The purpose of this study was to analyze some factors that can cause incidence of the muscle and skeletal system trouble, by which Dental Hygiene Students examine the pain and the inconvenient feeling according to kinds in manual implements and the usability in the level of manipulating and maintaining the manual implement, in the actual training of the intra oral cavity along with mannequin given the scaling practice. Methods : Targeting 18 female juniors for the department of dental hygiene, who had directly practiced oral prophylaxis for 2 years, the questionnaire research was carried out right after the mutual practice in the intra oral cavity along with mannequin. Results : It was indicated that there is no big difficulty both in intra oral cavity and mannequin in terms of manipulating implement with a method of maintaining the rightly hand fixing or of grasping the trans formative pencil and of controlling force given manipulating the implement. How to grasp a trans formative pencil was indicated to be more difficult in the intra-oral manipulation(p<.05). Pain and inconvenient-feeling level, which occur in muscle and skeletal system during practicing the scaling in mannequin, were indicated to be in order of shoulder, wrist, neck, waist, elbow, and headache. Conclusion : There was no big difference in the pain and the inconvenient feeling in muscle and skeletal system according to mannequin and intra-oral environment given manipulating tile manual implement. However, there was difference in manipulating the implement with a method of grasping transformative pencil. The pain and inconvenient feeling in muscle and skeletal system were the highest both in shoulder and wrist.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.501-506
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• 1993

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. Multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criteria used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces the internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R, where I is the number of robots. The general solution can be obtained using any efficient numerial method for quadratic programming, and for dual robot case, the optimal solution is given in a simple analytical form.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• 대한인간공학회지
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• 제17권1호
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• pp.11-22
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• 1998

When grasping a movable object or making an object move, humans feel kinesthetic sense. The kinesthetic sense is the human sense that the human feels in response to the motion acted on him. The objective of the paper is to transform the kinesthetic sense associated with the human arm into the quantified data that are useful from the engineering viewpoint. A 2-dimensional motion generator composed of two linear motors was developed to provide various motion patterns. It can change its stiffness and damping values on the real-time basis by properly regulating the force generated by the linear motors. Based on Taguchi method, the most dominant factors to affect the kinesthetic sense were investigated. Also, a reference function adequate to quantify the kinesthetic sense was found. Based on this function, the effects of changes in stiffness and damping on the kinesthetic sense were investigated. Various tests show that the damping is a more dominant factor than the stiffness in forming the kinesthetic sense.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.573-576
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• 2003

In this paper the following conclusions were obtained after examining and analyzing data through the various experiments by adopting automobile's piston as the experimental materials among the automobile materials which are being commercialized. The various experiments have been carried out with the object of presenting the selection of rational. economic materials and criterion according to the improvement of machining characteristics by grasping the strength and weakness of existing various materials and using the effects of metallic structure variables as well as satisfying the required conditions.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 추계학술대회 논문집
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• pp.565-580
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• 2006

Set in constant increase and period current of lively technical development of railroad use and construction of cable stayed bridge railway bridge, one of bridge form of most suitable that think side police officer and the material enemy of bridge that use long rail, is increasing laying stress on the foreign countries. Main tower fixing department of this cable stayed bridge is consisted of main tower flange that support bearing plate, bay ring plate bearing plate, support end rib and diaphragm etc, as stress transmission mechanic that tensility of cable socket into normal force of main tower, and is used this time. These structural elements is very complex the structure and direction of load delivered from socket specially calbe particularly be different, and need FEM analysis that use Thick Shell element for suitable arrangement of mutual stress flowing grasping and absence that follow hereupon because all of the each support plate angle that suport this differ.