• The Journal of Advanced Prosthodontics
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• v.14 no.1
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• pp.12-21
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• 2022

PURPOSE. The purpose of this study was to investigate changes in retention and wear pattern of Locator^® and ADD-TOC attachments on a digital milled bar by performing chewing simulation and repeated insertion/removal of prostheses in fully edentulous models. MATERIALS AND METHODS. Locator (Locator^®; Zest Anchors Inc., Escondido, CA, USA) was selected as the control group and ADD-TOC (ADD-TOC; PNUAdd Co., Ltd., Busan, Republic of Korea) as the experimental group. A CAD-CAM milled bar was mounted on a master model and 3 threaded holes for connecting a bar attachment was formed using a tap. Locator and ADD-TOC attachments were then attached to the milled bar. Simulated mastication and repeated insertion/removal were performed over 400,000 cyclic loadings and 1,080 insertions/removals, respectively. Wear patterns on deformed attachment were investigated by field emission scanning electron microscopy. RESULTS. For the ADD-TOC attachments, chewing simulation and repeated insertion/removal resulted in a mean initial retentive force of 24.43 ± 4.89 N, which were significantly lower than that of the Locator attachment, 34.33 ± 8.25 N (P < .05). Amounts of retention loss relative to baseline for the Locator and ADD-TOC attachments were 21.74 ± 7.07 and 8.98 ± 5.76 N (P < .05). CONCLUSION. CAD-CAM milled bar with the ADD-TOC attachment had a lower initial retentive force than the Locator attachment. However, the ADD-TOC attachment might be suitable for long-term use as it showed less deformation and had a higher retentive force after simulated mastication and insertion/removal repetitions.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.390-397
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• 2004

This paper presents the design and testing of a multi-channel vibrotactile display. It is composed of a cylindrical handle with four embedded vibrating elements driven by piezoelectric beams. Vibrations are transmitted to the hands through arrays of pins. The device was tested in sensory substitution for conveying force information during a teleoperated peg insertion. Results show that the device is effective in reducing peak forces during the insertion task.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.234-238
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• 2001

A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.

• The Journal of Advanced Prosthodontics
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• v.4 no.2
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• pp.61-71
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• 2012

PURPOSE. To compare the changes in the occlusal vertical dimension, activity of masseter muscles and biting force after insertion of immediate denture constructed with conventional, tooth-supported and Implant-supported immediate mandibular complete denture. MATERIALS AND METHODS. Patients were selected and treatment was carried out with all the three different concepts i.e, immediate denture constructed with conventional (Group A), tooth-supported (Group B) and Implant-supported (Group C) immediate mandibular complete dentures. Parameters of evaluation and comparison were occlusal vertical dimension measured by radiograph (at three different time intervals), Masseter muscle electromyographic (EMG) measurement by EMG analysis (at three different positions of jaws) and bite force measured by force transducer (at two different time intervals). The obtained data were statistically analyzed by using ANOVA-F test at 5% level of significance. If the F test was significant, Least Significant Difference test was performed to test further significant differences between variables. RESULTS. Comparison between mean differences in occlusal vertical dimension for tested groups showed that it was only statistically significant at 1 year after immediate dentures insertion. Comparison between mean differences in wavelet packet coefficients of the electromyographic signals of masseter muscles for tested groups was not significant at rest position, but significant at initial contact position and maximum voluntary clench position. Comparison between mean differences in maximum biting force for tested groups was not statistically significant at 5% level of significance. CONCLUSION. Immediate complete overdentures whether tooth or implant supported prosthesis is recommended than totally mucosal supported prosthesis.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1261-1262
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• 2010

• Journal of Dental Rehabilitation and Applied Science
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• v.25 no.4
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• pp.391-401
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• 2009

The successful outcome of dental implants is mainly the result of intial implant stability following placement. The aim of this study was to investigate the effect of a self-tapping blades and implant design on initial stability of two tapered implant systems in poor bone quality. The two different implant systems included one with self-tapping blades and one without self-tapping blades. D4 bone model using Solid Rigid Polyurethane Form was used to simulate poor bone densities. The insertion torque during implant placement was recorded. Resonance frequency Analysis (RFA), measured as the implant stability quotient (ISQ), was assessed immediately after insertion. Finally, the implant-bone specimen was transferred to an Universal Testing Machine to measure the axial pull-out force. Insertion torque values and maximum pull-out torque value of the non self-tapping implants were significantly higher than those in the self-tapping group (P = 0.008). No statistically differences were noted between the two implant designs in RFA. Within the each implant system, no correlation among insertion torque, maximum pull-out torque and RFA value could be determined. Higher insertion torque of the non-self-tapping implants appeared to confirm higher clinical initial stability. In conclusion, implants without self-tapping blades have higher initial stability than implants with self-tapping blades in poor bone quality.

• The Journal of Korean Academy of Prosthodontics
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• v.37 no.1
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• pp.23-41
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• 1999

During the previous several decades the osseointegrated implants have been considered as the most ideal therapy for the fully edentulous or partially edentulous patients. Although the research on the biocompatibility of osseointegration, the oral tactile function, and the histo-neurologic study had been performed, the change of the oral tactile sensibility and maximal occlusal force according to the postinsertion time of implant prostheses has not been studied. The purpose of this study was to compare the oral tactile sensibility and maximal occlusal force of implant pros-theses to natural teeth according to the specific postinsertion time intervals. The fifty seven patients treated with $Br{\aa}nemark$ implants during the recent seven years were involved in this study. The oral tactile sensibility and maximal occlusal force were measured according to the postinsertion time (${\leqq}6\;months,\;{\leqq}12\;{\leqq}\;18\;months\;{\leqq}\;24\;months,\;and\;{\geqq}20\;months$) 1. The passive tactile threshold of implants was higher than 6-7 times when comparing to natural teeth(P<0.05) 2. The absolute pressure threshold in horizontal and vertical direction for the passive tactile sensibility had decreased significantly in the post insertion time 13-18 months group and had increased significantly in the post insertion time over 25 months group (P<0.05) 3. 50% limit thickness and 100% absolute thickness for the active tactile sensibility had decreased significantly in the postinsertion time 7-12 months group ($AT_{50}:P<0.005,\;AT_{100}:P<0.05$) 4. The maximal occlusal force of the implants prostheses had decreased when comparing with natural teeth in the postinsertion time 1-6 months group(P<0.05) and after that there was no significant difference between the implant prostheses and natural teeth(P<0.05) 5. Maximal occlusal force according to the postinsertion time had increased significantly in the 13-18 months group (P<0.05) after that there was no significant difference. 6. There was positive correlation between age and oral tactile sensibility tested in horizontal and vertical direction ($P_{H:r}=0.39,\;P_{v:r}=0.41$) and there was no correlation between age and maximal occlusal force, age and active tactile sensibility 7. According to the results or the questionnaire, 76.6% of the patients were satisfied with the function and 96.7% of the patients were satisfied with the sensibility. In conclusion oral tactile sensibility and maximal occlusal force of implants have changed with the postinsertion time. Oral tactile function of implants was lower than that of the natural teeth, but for the maximal occlusal force there was no difference between implants and natural teeth.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Magazine of the Korean Society of Agricultural Engineers
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• v.43 no.6
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• pp.113-119
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• 2001

Experiments on the yield strength of pipe connectors made of metal wire, joint pins, pole pipes, multi span insertion joints, and T-clamp joints used in pipe houses were conducted. The strength of connections of a pipe connector made of metal wire was adequate but it had a big difference according to loading direction. Therefore as it is installed, its direction should be taken into consideration. The collapse load of pipes connected with a joint pin was lower than that of single pipes. In the part of frame member at which the great bending moment occurs, the use of joint pin should be avoided. Also experimental results showed that pole pipes for use in a part of frame buried under the ground were safe, and the strength of multi span insertion joints should be increased. The resistant moment of T-clamp was about 13.7% of a single pipe. In case that the external forces acting on left and right rafter are different. a unsymmetrical rotational force is produced at the multi span joint. If it is expected that the actual bending moment on the multi span joint is larger than resistant moment of T-clamp, a reinforcement to safely resist the rotational force is required.