• The Journal of Advanced Prosthodontics
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• v.6 no.2
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• pp.103-108
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• 2014

PURPOSE. The occlusal splint has been used for many years as an effective treatment of sleep bruxism. Several methods have been used to evaluate efficiency of the occlusal splints. However, the effect of the occlusal splints on occlusal force has not been clarified sufficiently. The purpose of this study was to evaluate the effect of occlusal splints on maximum occlusal force in patients with sleep bruxism and compare two type of splints that are Bruxogard-soft splint and canine protected hard stabilization splint. MATERIALS AND METHODS. Twelve students with sleep bruxism were participated in the present study. All participants used two different occlusal splints during sleep for 6 weeks. Maximum occlusal force was measured with two miniature strain-gage transducers before, 3 and 6 weeks after insertion of occlusal splints. Clinical examination of temporomandibular disorders was performed for all individuals according to the Craniomandibular Index (CMI) before and 6 weeks after the insertion of splints. The changes in mean occlusal force before, 3 and 6 weeks after insertion of both splints were analysed with paired sample t-test. The Wilcoxon test was used for the comparison of the CMI values before and 6 weeks after the insertion of splints. RESULTS. Participants using stabilization splints showed no statistically significant changes in occlusal force before, 3, and 6 weeks after insertion of splint (P>.05) and participants using Bruxogard-soft splint had statistically significant decreased occlusal force 6 weeks after insertion of splint (P<.05). There was statistically significant improvement in the CMI value of the participants in both of the splint groups (P<.05). CONCLUSION. Participants who used Bruxogard-soft splint showed decreases in occlusal force 6 weeks after insertion of splint. The use of both splints led to a significant reduction in the clinical symptoms.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.481-485
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• 2000

A new type of compliant press-fit pin has been developed and evaluated for use packaging of electronic telecommunications equipments. Main requirements for design are defined the upper limit of pin insertion force and the lower limit of pin retention force. Upper limit of pin insertion force is set to protect the copper plate of the inner PTH wall. Lower limit of pin retention force is set to satisfy a wire-wrapping specification. Results are represented by insertion force and retention force variations according to the front angle, rear angle and material, etc.

• Journal of the korean Society of Automotive Engineers
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• v.15 no.1
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• pp.89-99
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• 1993

In this research, important mechanical characteristics of Compliant Press-Fit Pin and PHT are studied through the analysis of deformation mechanisms of Press-Fit Pin and by elastic-plastic finite element method. The direct data for the optimal design of pin was obtained without interfere with the criterion on insertion force and retention force. Also, the insertion force and retention force of new type pin were measured by precision type tensile testing machine and it revealed good agreement with analytical results. In conclusion, it is believed that above results will contribute satisfactorily to the practical design of Press-Fit Pin.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.2
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• pp.222-228
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• 2012

Haptics and virtual reality are rapidly growing technologies in medical fields. Physicians and nurses can benefit from medical simulation via training and acquire surgical and clinical techniques. In this paper, the research on needle insertion force of biological tissue for haptic based intravenous injection simulator was carried out. We built the setup for needle insertion (intravenous injection) experiments and performed the experiments on live pigs. The force responses against needle insertion were measured using the experimental setup. In addition, the modeling of needle insertion force was carried out with the experimental results and numerical models via nonlinear least-squares method. The results presented in this paper indicate that the developed models can be applied not only to estimate the force feedback during intravenous injection procedure but also to improve the overall training quality of the medical simulator.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

• The Journal of Korean Medicine
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• v.35 no.4
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• pp.74-82
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• 2014

Objectives: Quantification, objectification, and standardization of lifting-thrusting manipulation are important issues in traditional Chinese medicine (TCM). The purpose of this study was to quantitatively investigate the difference in the amount of stimulation according to range and frequency among parameters of lifting-thrusting manipulation with the use of a needle insertion-measurement system. Methods: For quantification of lifting-thrusting manipulation, an acupuncture needle insertion-measurement system was used in phantom tissue. The motor and force sensors of the needle insertion device were connected to the control software. This enabled operation of the lifting-thrusting manipulation and measurement of the acupuncture needle force. The measurement of the acupuncture needle force according to various frequencies (0.25, 0.50, 0.75, and 1 Hz) and ranges of movement (2, 4, 6, 8, and 10 mm) was repeated 10 times. Results: At a constant frequency of movement, acupuncture needle force according to range of movement (2, 4, 6, 8, and 10 mm) increased with increasing range of movement (p < 0.05). At a constant range of movement, acupuncture needle force according to frequency of movement (0.25, 0.50, 0.75, and 1.0 Hz) increased with increasing frequency of movement (p < 0.05). Conclusion: In this study, we conducted a quantitative comparison of the amount of stimulation according to range and frequency, the main parameters of lifting-thrusting manipulation, by using an acupuncture needle insertion-measurement system. Future studies on various manipulations and parameters are warranted to quantify and objectify the amounts of stimulation by acupuncture manipulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.851-856
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• 2016

Despite all the recent advances in biodegradable material-based microneedles, the bending and failure (especially buckling) of a biodegradable microneedle during skin tissue insertion remains a major technical hurdle for its large-scale commercialization. A reduction in skin tissue puncture force during microneedle insertion remains an essential issue in successfully developing a biodegradable microneedle. Here, we consider uniaxial and equibiaxial prestrains applied to a skin tissue as mechanophysical stimuli that can reduce the skin tissue puncture force, and investigate the effect of prestrain on the changes in skin tissue puncture force. For a porcine skin tissue similar to that of humans, the skin tissue puncture force of a flat-end microneedle is measured with a z-axis stage equipped with a load cell, which provides a force-time curve during microneedle insertion. The findings of this study lead to a quantitative characterization of the relationship between prestrain and the skin tissue puncture force.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.2
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• pp.207-216
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• 1991

In the case that the robot manipulator should respond to the variance and uncertainty of the environment in performing preforming precision tasks, it is indispensable that the robot utilizes the various sensors for intrlligence. In this paper, the robot force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator for performing the various application tadks. The hybrid position/force control method is used to control the force and position axis separately. An interface board is designed to read the force/torque sensor output into the computer. Since the two computers should exchange the information quickly, a common memory board is designed. Before the algorithms of application tasks are developed, the basic force commands must be supplied. Thus, the MOVE-UNTIL command is used at the discrete time instant and, the MOVE-COMPLY is used at the continuous time instant for receiving the force feedback information. Using the two basic force commands, three application algorithms are developed and implemented for edge-following, insertion, and grinding tasks.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.316-322
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• 2020

Endoscopic spine surgery is an advanced surgical technique for spinal surgery since it minimizes skin incision, muscle damage, and blood loss compared to open surgery. It requires, however, accurate positioning of an endoscope to avoid spinal nerves and to locate the endoscope near the target disk. Before the insertion of the endoscope, a guide needle is inserted to guide it. Also, the result of the surgery highly depends on the surgeons' experience and the patients' CT or MRI images. Thus, for the training, a number of haptic simulators for spinal needle insertion have been developed. But, still, it is difficult to be used in the medical field practically because previous studies require manual segmentation of vertebrae from CT images, and interaction force between the needle and soft tissue has not been considered carefully. This paper proposes AI-based automatic vertebrae CT-image segmentation and haptic rendering method using the proposed need-tissue interaction model. For the segmentation, U-net structure was implemented and the accuracy was 93% in pixel and 88% in IoU. The needle-tissue interaction model including puncture force and friction force was implemented for haptic rendering in the proposed spinal needle insertion simulator.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.539-539
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• 2000

This paper shows how to implement force reflection for a needle insertion problem. The target is a needle spine biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated from the relationship of volume graphic data and the orientation and Position of the needle, and it is generated using PHANTOM$^{TM}$. To generate realistic force reflection, the directional force of the needle has been generated by tissue model. The other rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the used haptic device has limitation for generating high stiffness and large damping, scale downed model and digital filter are used to stabilize the system.m.