• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.117.5-117
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• 2001

This paper presents the key idea of handlebar reaction force and pedal resistance force generation in creating life-like feeling in KAIST bicycle simulator. Also, it provides methods to evaluate its reality level with given reaction force profile. In KAIST bicycle simulator, the pedal resistance force and the handlebar reaction force are calculated using the bicycle dynamic model. With the information handlebar angle, rider´s pedaling torque and road profile transmitted from the handlebar system, the pedal system and the visual part, the bicycle dynamics engine calculates the handlebar reaction force and the pedal velocity. The handlebar system and the pedal resistance system generate reaction force and resistance force transmitted from dynamics engine. However to make more realistic riding feeling ...

• Advances in Computational Design
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• v.2 no.4
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• pp.273-281
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• 2017

In this work, a comparative study of multi-objective meta-heuristics (MOMHs) for optimum design of a walking tractor handlebar is conducted in order to reduce the structural mass and increase structural static and dynamic stiffness. The design problem has objective functions as maximising structural natural frequencies, minimising structural mass, bending deflection and torsional deflection with stress constraints. The problem is classified as a many-objective optimisation since there are more than three objectives. Design variables are structural shape and size. Several well established multi-objective optimisers are employed to solve the proposed many-objective optimisation problems of the walking tractor handlebar. The results are compared whereas optimum design solutions of the walking tractor handlebar are illustrated.

• Journal of the Ergonomics Society of Korea
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• v.27 no.3
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• pp.23-32
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• 2008

This study attempts to develop improved ingress and egress in vehicle for disabled wheelchair people who driving is available, after investigating the ingress and egress relation demand and the inconvenient factor in the vehicle. An experiment was performed for that disabled wheelchair people to analyze the characteristics of ingress and egress relation operation through the questionnaire survey and the camera photographing. The results suggest various improvements possibilities in inside handlebar as a main factor. Through analysis of disabled wheelchair person's ingress and egress tendency, the alternative shape and position of inside handlebar are suggested. Also, this paper aimed to draw ingress and egress improvement proposal by executing a verification experiment and collecting the preferences from disabled people.

• Proceedings of the Korea Society of Design Studies Conference
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• 2001.10a
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• pp.52.2-52
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• 2001

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.292-304
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• 2005

In this paper we present the linearized equations of motion for a bicycle as a benchmark. The results obtained by pencil-and-paper and two programs are compared. The bicycle model we consider here consists of four rigid bodies, viz. a rear frame, a front frame being the front fork and handlebar assembly, a rear wheel and a front wheel, which are connected by revolute joints. The contact between the knife-edge wheels and the flat level surface is modelled by holonomic constraints in the normal direction and by non-holonomic constraints in the longitudinal and lateral direction. The rider is rigidly attached to the rear frame with hands free from the handlebar. This system has three degrees of freedom, the roll, the steer, and the forward speed. For the benchmark we consider the linearized equations for small perturbations of the upright steady forward motion. The entries of the matrices of these equations form the basis for comparison. Three diffrent kinds of methods to obtain the results are compared : pencil-and-paper, the numeric multibody dynamics program SPACAR, and the symbolic software system Auto Sim. Because the results of the three methods are the same within the machine round-off error, we assume that the results are correct and can be used as a bicycle dynamics benchmark.

• Korean Journal of Applied Biomechanics
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• v.22 no.3
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• pp.373-378
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• 2012

The purpose of this study was to develop an electric riding machine for cycle fitting to control riding posture easily, to measure frame size quantitatively, and to overcome disadvantages of the traditional systems. The electric riding machine consisted of actuator, load controller, and display & control unit. The actuator unit by BLDC(BrushLess Direct Current) motor drives the saddle height up and down, the crank forward and backward, the handlebar up and down, and the handlebar forward and backward. The load controller unit controls loads by Eddy current controller with electromagnet and aluminum circular plate. The display & control unit consisted of frame size controller and display panel which shows top tube length(485~663mm), head tube length(85~243mm), seat tube length(481~671mm), and seat tube angle($62.7{\sim}76.4^{\circ}$). The range of frame size control for developed electric riding machine did not have difference compared to traditional commercial systems, but quantitative and precise control with 0.1 mm length and $0.1^{\circ}$ angle was possible through digital measurement. Unlike traditional commercial systems, frame size control was possible during riding through motor driven method, thus fitting duration decreased. It is necessary for further improvement to have feedback from users. It is believed that developed electric riding machine can help to develop domestic fitting system.

• Advances in pediatric surgery
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• v.9 no.1
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• pp.52-56
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• 2003

A 10 year old boy was admitted with blunt abdominal trauma by bike handle injury. The patient was operated upon for a generalized peritonitis due to pancreaticoduodenal injury. On opening the peritoneal cavity. complete transection of distal end of common bile duct and. partial separation between pancreas head and second portion of duodenum were found. Ligation of the transected end of the common bile duct. T-tube choledochostomy, and external drainage were performed. A pseudocyst was found around the head portion of the pancreas on the 7th postoperative day with CT. An internal fistula had developed between the pseudocyst and ligated common bile duct. The pseudocyst was subsided after percutaneous drainage. In the case of the undetermined pancreatic injury, percutaneous external drainage can be effective in treating the traumatic pancreatic pseudocyst in a pediatric patient.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.3 no.1
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• pp.7-13
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• 2009

Recently, the interest on walking assistances in order to assist aged people has increased due to the increase of the aged. However, most walking aid systems have a weakness for a slope because they don't have power. So, they have a weak point which makes users difficult to move when they are weak in the legs. That is why the interest on walking assistances with power has increased. The use of the walking aid systems should be easy because most users are old people. Thus, we produce module to grasp walking intent of users by using various sensors such as potentiometer, FSR(Force Sensing Resistance) Sensor and Stretch Sensor and calculate the response time to the module. Firstly, the response time of handlebar which is a kind of potentiometer is 420ms and Resilience of it is 140ms. Secondly, the response time of handlebar which use FSR Sensor is 320ms and Resilience of it is 220ms. Finally, the response time of the Stretch Sensor is 160ms and Resilience of it is 140ms. The performance of Stretch Sensor is the best among the three kind of sensors.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.4
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• pp.321-328
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• 2016

In this paper, we propose a walk status method which can be fused with conventional walk intention method to improve convenience of an electric assistive walking system for elder people with restricted walking capabilities. The system uses a handlebar as a trigger and regards grabbing a handlebar as expressing will to walk. And the system uses a user's linear velocity and angular velocity as linear velocity and angular velocity of a system, checked by laser range finder. To achieve this, we propose a method to find a virtual central point of a human body by estimating a central point between two legs. The experiments are carried out by comparing user's linear velocity and angular velocity, and system's linear velocity and angular velocity. The results show that the error of linear velocity and angular velocity between a user and a system are 1% and 2.77%, which means the linear velocity and angular velocity of a user can be applied to a system. And it is confirmed that the proposed fusion method can prevent a user from being dragged by an assistive walking system or a malfunction caused by lack of experience

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.259-260
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• 2008

이 논문은 노인 및 장애인의 활동을 보조하기 위한 보행보조 로봇의 기술인 사용자의 진행하고자 하는 방향과 속도를 검출하는 보행 보조 로봇의 조향 장치를 구현 하고자 한다. 최근에 노인인구의 증가로 인해 노인 및 장애인을 위한 보행 보조기에 대한 관심이 증가되고 있다. 그러나 대부분의 경우 동력이 없는 시스템으로 경사 등의 공간에서 취약성을 가지 고 있다. 이에 동력형 보행보조기에 대한 관심이 증가되고 있다. 대부분의 경우 보행보조기의 제어가 조정한다는 의미가 적합하였다. 그러나 이 논문에서는 사용자의 움직임이 손에 전달되는 힘에 의해 사용자의 의지력을 파악 하는 두가지형태의 조향장치를 구현하였다. 첫째로 가변저항을 이용하여 보행의지를 파악하고, 두 번째로 힘센서를 이용하여 보행의지를 파악하였다. 위 두가지 센서를 기초로 사용자가 이동하고자 하는 이동 방향과 이동 속도 데이터를 기초로 보행보조기의 차량 속도와 방향에 대해 구동 바퀴의 차동 구동을 통해 사용자의 의지에 맞춰 구동할 수 있도록 하였다.