• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.244-248
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• 1987

The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure $T_x$, $T_y$, $F_z$ which are necessary to precisely execute a peg-in-hole insertion task by SCARA type assembly robot. The outputs of sensor are analyzed. On the basis of the analysis, compliance algorithm for peg-in-hole insertion task is developed. Some comments concerning the development of wrist force/torque sensor and compliance algorithm are given.

• Journal of Acupuncture Research
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• v.35 no.4
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• pp.238-243
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• 2018

Background: Various factors can alter the efficacy of acupuncture treatment, such as the location of points, manipulations, depth of insertion, needle retention time, and needle type. In this study, the effect of needle diameter on the efficacy of acupuncture treatment was quantitatively evaluated. Methods: Five acupuncture needles of different diameters used in clinical practice were compared. Force on the porcine tissue phantom was measured using a sensor. Lifting-thrusting and twisting-rotating movements were performed using a needle insertion-measurement system. After repeated measurements, force magnitude was calculated and compared. Following this, we correlated needle diameter and force magnitude during lifting-thrusting and twisting-rotating movements. Results: The force magnitude was significantly altered between needle diameters during lifting-thrusting movements, as shown by a significant positive correlation between needle diameter and force magnitude. In contrast, there was no difference in force magnitude with different needle diameters during twisting-rotating movements. Conclusion: Needle diameter can significantly affect stimuli and force magnitude dependent upon the type of manipulation. Research into the effect of other needle type characteristics and stimulation method is necessary to fully elucidate the role of acupuncture needle choice in treatment efficacy.

• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.5
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• pp.488-497
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• 1984

In the assembling process by industrial robots, many difficulties stem from the fact that the assembly operation is impossible or the parts to be assembled can be damaged by reaction forces due to even little misalignment in part mating. In this paper a flexible and sensible robot wrist is developed to make possible the precision insertion operation. The flexibility of the developed wrist were evaluated both analytically and experimentally in actual insertion process. The results show that without the use of feedback control the wrist is capable of doing insertion operations with a small clearance at a low inserting force. For smaller clearance the assembly process was devised involving insertion force feedback and a control algorithm for this active accommodation was developed. The simulation results show that if the active feedback control is used the insertion action can be performed with much less force, as compared with a passive accommodation method.

• Korean Journal of Acupuncture
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• v.35 no.3
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• pp.149-158
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• 2018

Objectives : In this study, we quantitatively evaluated the needle forces using needle insertion-measurement system and compared the needle sensation of each acupuncture practical model. Methods : After inserting acupuncture with a sensor to six models, a lifting-thrusting motion was implemented using the needle insertion-measurement system. The needle force was measured repeatedly, and the measurement was analyzed based on the modified Karnopp friction model for a comparison of friction coefficients. After the insertion, practitioners did lifting-thrusting manipulations. They quantified the similarity of needle sensation with VAS (Visual Analogue Scale). Results : When friction force and coefficients of friction in five different models were compared with a porcine shank model, all five models were significantly different from a porcine shank model, cotton and apple showing the closest frictional values to that of a porcine shank model. In the Cp and Cn values of cotton and in the Cp values of IM injection pad, there was no statistically significant difference. The similarity of the needle sensation between the porcine shank and five models was the highest in the apple, and overlapping papers was the lowest. Conclusions : This study quantitatively compared the physical forces in the practical model when implementing lifting-thrusting manipulations, using a needle insertion-measurement system. We suggest that a reproducible exercise model that reflects the characteristics of various human tissues, such as viscoelasticity or strength, needs to be further developed. This will contribute to establishing standardized acupuncture practice training.

• Journal of Dental Rehabilitation and Applied Science
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• v.25 no.2
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• pp.109-123
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• 2009

The aim of the study was to assess the influence of insertion torque of bone quality and to compare axial force, moment and von Mises stress using finite element analysis of plastoelastic property for bone stress and strain by dividing bone quality to its thickness of cortical bone, density of trabecular bone and existence of lower cortical bone when implant inserted to mandibular premolar region. The $Br{\aa}nemark$ MKIII. RP implant and cylindrical bone finite model were designed as cortical bone at upper border and trabecular bone below the cortical bone. 7 models were made according to thickness of cortical bone, density of trabecular bone and bicortical anchorage and von Mises stress, axial force and moment were compared by running time. Dividing the insertion time, it seemed 300msec that inferior border of implant flange impinged the upper border of bone, 550msec that implant flange placed in middle of upper border and 800msec that superior border of implant flange was at the same level as bone surface. The maximum axial force peak was at about 500msec, and maximum moment peak was at about 800msec. The correlation of von Mises stress distribution was seen at both peak level. The following findings were appeared by the study which compared the axial force by its each area. The axial force was measured highest when $Br{\aa}nemark$ MKIII implant flange inserts the cortical bone. And maximal moment was measured highest after axial force suddenly decreased when the flange impinged at upper border and the concentration of von Mises stress distribution was at the same site. When implant was placed, the axial force and moment was measured high as the cortical bone got thicker and the force concentrated at the cortical bone site. The influence of density in trabecular bone to axial force was less when cortical bone was 1.5 mm thick but it might be more affected when the thickness was 0.5 mm. The total axial force with bicortical anchorage, was similar when upper border thickness was the same. But at the lower border the axial force of bicortical model was higher than that of monocortical model. Within the limitation of this FEA study, the insertion torque was most affected by the thickness of cortical bone when it was placed the $Br{\aa}nemark$ MKIII implant in premolar region of mandible.

• Korean Chemical Engineering Research
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• v.47 no.5
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• pp.538-545
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• 2009

The principle and application of a scanning probe microscopy(SPM) are reviewed briefly, and a low-invasive single cell manipulation and a gene delivery technique using an etched atomic force microscopy(AFM) probe tip, which we call a nanoneedle, are explained in detail. The nanoneedle insertion into a cell can be judged by a sudden drop of force in a force-distance curve. The probabilities of nanoneedle insertion into cells were 80~90%, which were higher than those of typical microinjection capillaries. When the diameter of the nanoneedle was smaller than 400 nm, the nanoneedle insertion into a cell over 1 hour had almost no influence on the cell viability. A highly efficient gene delivery and a high ratio of expressed gene per delivered DNA compared the conventional major nonviral gene delivery methods could be achieved using the gene modified nanoneedle.

• The Journal of Advanced Prosthodontics
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• v.7 no.4
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• pp.303-311
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• 2015

PURPOSE. The aim of this study was to compare the changes in retentive force of stud attachments for implant overdentures by in vitro 2-year-wear simulation. MATERIALS AND METHODS. Three commercially available attachment systems were investigated: Kerator blue, O-ring red, and EZ lock. Two implant fixtures were embedded in parallel in each custom base mounting. Five pairs of each attachment system were tested. A universal testing machine was used to measure the retentive force during 2500 insertion and removal cycles. Surface changes on the components were evaluated by scanning electron microscopy (SEM). A Kruskal-Wallis test, followed by Pairwise comparison, was used to compare the retentive force between the groups, and to determine groups that were significantly different (${\alpha}$<.05). RESULTS. A comparison of the initial retentive force revealed the highest value for Kerator, followed by the O-ring and EZ lock attachments. However, no significant difference was detected between Kerator and O-ring (P>.05). After 2500 insertion and removal cycles, the highest retention loss was recorded for O-ring, and no significant difference between Kerator and EZ lock (P>.05). Also, Kerator showed the highest retentive force, followed by EZ lock and O-ring, after 2500 cycles (P<.05). Based on SEM analysis, the polymeric components in O-ring and Kerator were observed to exhibit surface wear and deformation. CONCLUSION. After 2500 insertion and removal cycles, all attachments exhibited significant loss in retention. Mechanism of retention loss can only be partially explained by surface changes.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.4
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• pp.541-545
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• 2009

This study evaluated the contact resistance, insulation resistance, withstand voltage characteristics and insertion force, etc., of the wire connector used inside an integrated LITE WAY lighting fixture developed for efficient installation. Since the connector connecting the lighting fixture's internal wires is housed, it is easily connected and separated and has a structure enabling a close-fitting connection. The temperature and time applied to the high temperature characteristics test of the connector are $105^{\circ}C$ and 16 hours, respectively. The measured contact resistance of the high temperature tested connector was 3.258 mV/A, and its measured insulation resistance was greater than $10\;G{\Omega}$ All specimens demonstrated uniform insulation characteristics, which could be seen to be in good condition. From the withstand voltage test results found before and after performing the high temperature operation test on the connector for cable connection, it was confirmed that the withstand voltage characteristics between all terminals were good. The insertion force of the connector connecting the internal wiring averaged 9.67 kgf. It was observed that the insertion force between the plug housing and the female terminal, and that between the plug housing and the male terminal, were 0.680 kgf and 1.27 kgf on average, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.731-736
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• 1989

RCC(Remote Center Compliance)[1][2] is a useful device for peg and hole insertion works. Two methods for smooth insertion of round peg and round hole are proposed. The idea of method 1 is to design the optimum position of the compliance center of RCC which is different from that of usual RCC in order to minimize the insertion force with the assumption of the known insertion angle. The idea of method 2 is to insert peg with rotation in order to decrease the friction coefficient between peg and hole. The two ideas are analyzed theoretically and are shown valid experimentally.