• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.130-137
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• 2007

The optimized prosthetic mass distribution was a controversial problem in the previous studies because they are not supported by empirical evidence. The purpose of the present study was to evaluate the effect of prosthetic mass properties by modeling musculoskeletal system, based on the gait analysis data from two above-knee amputees. The joint torque at hip joint was calculated using inverse dynamic analysis as the mass was changed in knee and foot prosthetic components with the same joint kinematics. The results showed that the peak flexion and abduction torque at the hip joint were 5 Nm and 15 Nm when the mass of the knee component was increased, greater than the peak flexion and abduction torque of the control group at the hip joint, respectively. On the other hand, when the mass of the foot component was increased, the peak flexion and abduction torque at the hip joint were 20 Nm and 15 Nm, greater than the peak flexion and abduction torque of the control, respectively. The hip flexion torque was 4.71-fold greater and 7.92-fold greater than the hip abduction torque for the knee mass increase and the foot mass increase on the average, respectively. Therefore, we could conclude that the effect of foot mass increase was more sensitive than that of knee mass increase for the hip flexion torque. On the contrary, the mass properties of the knee and foot components were not sensitive for the hip abduction torque. In addition, optimized prosthetic mass and appropriate mass distributions were needed to promote efficiency of rehabilitation therapy with consideration of musculoskeletal systems of amputees.

• The Journal of Advanced Prosthodontics
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• 제6권2호
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• pp.126-132
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• 2014

PURPOSE. This study was conducted to evaluate the influence of the implant-abutment connection design and diameter on the screw joint stability. MATERIALS AND METHODS. Regular and wide-diameter implant systems with three different joint connection designs: an external butt joint, a one-stage internal cone, and a two-stage internal cone were divided into seven groups (n=5, in each group). The initial removal torque values of the abutment screw were measured with a digital torque gauge. The postload removal torque values were measured after 100,000 cycles of a 150 N and a 10 Hz cyclic load had been applied. Subsequently, the rates of the initial and postload removal torque losses were calculated to evaluate the effect of the joint connection design and diameter on the screw joint stability. Each group was compared using Kruskal-Wallis test and Mann-Whitney U test as post-hoc test (${\alpha}$=0.05). RESULTS. The postload removal torque value was high in the following order with regard to magnitude: two-stage internal cone, one-stage internal cone, and external butt joint systems. In the regular-diameter group, the external butt joint and one-stage internal cone systems showed lower postload removal torque loss rates than the two-stage internal cone system. In the wide-diameter group, the external butt joint system showed a lower loss rate than the one-stage internal cone and two-stage internal cone systems. In the two-stage internal cone system, the wide-diameter group showed a significantly lower loss rate than the regular-diameter group (P<.05). CONCLUSION. The results of this study showed that the external butt joint was more advantageous than the internal cone in terms of the postload removal torque loss. For the difference in the implant diameter, a wide diameter was more advantageous in terms of the torque loss rate.

• 한국운동역학회지
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• 제25권3호
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• pp.275-281
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• 2015

Objective : In order for Taekwondo athletes to perform destructive kicking performance, they are expected to have Taekwondo-specific muscle properties such as high muscle strength and power. The purpose of this study was to investigate the joint angle-dependent force-producing property of Taekwondo athletes' knee extensor muscles, which is one of the primary muscle groups involved in kicking performance. Method : Ten Taekwondo male athletes (age: $19.9{\pm}0.7yrs$, height: $180.6{\pm}6.2cm$, body mass: $75.9{\pm}8.9kg$, career: $9.2{\pm}2.9yrs$.) and 10 healthy male non-athletes (age: $26.3{\pm}2.6yrs$, height: $174.2{\pm}4.8cm$, body mass: $72.8{\pm}7.7kg$) participated in this study. Subjects performed maximum isometric knee extension at knee joint angles of $40^{\circ}$, $60^{\circ}$, $80^{\circ}$, and $100^{\circ}$ (the full knee extension was set to $0^{\circ}$) with the hip joint angles of $0^{\circ}$ and $80^{\circ}$ (the full extension was set to $0^{\circ}$). During the contractions, knee extension torque using an isokinetic dynamometer simultaneously with muscle activities of the rectus femoris (RF), and the vastus lateralis (VL) and vastus medialis (VM) using surface electromyography were recorded. Based on the torque values at systematically different knee-hip joint angles, the joint torque-angle relationships were established and then the optimal joint angle for the knee extensor was estimated. Results : The results of this study showed that the isometric knee extension torque values were greater for the Taekwondo athletes compared with the non-athlete group at all hip-knee joint angle combinations (p<.05). When the hip joint was set at $80^{\circ}$, the peak isometric torque was greater for the Taekwondo athletes compared with the non-athlete group ($313.61{\pm}36.79Nm$ and $221.43{\pm}35.92Nm$, respectively; p<.05) but the estimated optimum knee joint angles were similar ($62.33{\pm}5.71^{\circ}$ and $62.30{\pm}4.67^{\circ}$ for the Taekwondo athletes and non-athlete group, respectively). When the hip joint was set at $0^{\circ}$, the peak isometric torque was greater for the Taekwondo athletes compared with the non-athlete group ($296.29{\pm}45.13Nm$ and $199.58{\pm}25.23Nm$, respectively; p<.05) and the estimated optimum knee joint angle was larger for the Taekwondo athletes compared with the non-athlete group ($78.47{\pm}5.14^{\circ}$ and $67.54{\pm}5.77^{\circ}$, respectively; p<.05). Conclusion : The results of this study suggests that, compared with non-athletes, Taekwondo athletes have stronger knee extensor strength at all hip-knee joint angle combinations as well as longer optimum muscle length, which might be optimized for the event-specific required performance through prolonged training period.

• 대한치과보철학회지
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• 제46권4호
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• pp.396-408
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• 2008

연구목적: 임플랜트 치료에서 가장 흔히 발생하는 기계적 문제점 중 하나는 나사의 풀림이다. 지대주 나사에 조임회전력을 가하는 목적은 나사를 신장시켜, 신장된 나사의 인장력에 의한 지대주와 고정체간의 압축력을 통해 연결부의 안정성을 부여하는 데 있다. 조임 회전력의 결과로 나타나는 전하중의 크기는 다양한 요소에 의해 영향을 받기 때문에, 동일한 조임회전력을 적용하였다 할지라도 임플랜트 시스템의 종류에 따라 전하중의 크기가 달라질 수 있다. 따라서 지대주 나사 연결부의 안정성을 위한 다양한 임플랜트 시스템의 적정 조임회전력 크기에 관한 연구가 필요하다. 본 연구에서는 external butt joint와 두 가지 internal cone 연결형태를 갖는 임플랜트 시스템들에서 지대주 나사의 조임회전력이 임플랜트-지대주 나사 연결부의 안정성에 미치는 영향을 하중 전후의 풀림회전력 측정을 통해 알아보고자 하였다. 연구재료 및 방법: External butt joint 형태를 가지는 US II 시스템과 $8^{\circ}$ internal cone 연결형태의 SS II 및 $11^{\circ}$ internal cone 연결형태의 GS II 시스템에서 20 Ncm, 30 Ncm, 그리고 40 Ncm의 각기 다른 조임회전력을 적용한 후 초기 풀림회전력 및 상실률과 $10^5$회의 반복하중 후의 풀림회전력 및 상실률을 비교 분석하였다. 연구결과 및 결론: 1. 초기 풀림회전력과 하중 후 풀림회전력은 조임회전력의 크기가 증가할수록 크게 나타났다 (P < .05). 2. 초기 풀림회전력 상실률은 SS II 시스템에서는 조임회전력 크기에 따른 차이가 없었으나 (P > .05), GS II와 US II에서는 20 Ncm 보다 40Ncm의 조임회전력에서 더 낮게 나타났다 (P < .05). 3. 하중 후 풀림회전력 상실률은 세 시스템 모두 30 Ncm의 조임회전력을 가했을 때 가장 낮게 나타났다 (P < .05). 4. 하중 후 풀림회전력 상실률은 SS II, GS II, 그리고 US II 순으로 높아지는 경향을 보였다. 5. 초기 풀림회전력과 하중 후 풀림회전력 상실률 간에는 상관관계가 없었다 (P > .05). 이상의 결과로부터 임플랜트 시스템의 종류뿐만 아니라 조임회전력의 크기 또한 지대주 나사의 풀림회전력 상실에 영향을 준다는 것을 알 수 있다. 따라서 임플랜트-지대주 나사 연결부 안정성 유지를 위해서는 임플랜트 시스템마다 적정 조임회전력이 제시되어야 하고, 또한 임상에서 이를 준수하는 것이 매우 중요하다고 생각된다.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Structural Engineering and Mechanics
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• 제44권2호
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• pp.197-217
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• 2012

Detailed analysis of internal forces of exterior beam-column joints of RC frames under seismic action is reported in this paper. A formula is derived for calculating the average joint shear from the column shears, and a formula is proposed to estimate torque in eccentric joints induced by seismic action. Average joint shear stress and strain are defined consistently for exterior joints, which can be used to establish joint shear constitutive relationship. Numerical results of shear, bending moment and torque in joints induced by seismic action are presented for a pair of concentric and eccentric exterior connections extracted from a seismically designed RC frame, and two sections located at the levels of beam bottom and top reinforcement, respectively, are identified as the critical joint sections for evaluating seismic joint behavior. A simplified analysis of the effects of joint shear and torque on the flexural strengths of the critical joint sections is made for the two connections extracted from the frame, and the results indicate that joint shear and torque induced by a strong earthquake may lead to "joint-hinging" mechanism of seismically designed RC frames.

• The Journal of Korean Physical Therapy
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• 제28권1호
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• pp.8-13
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• 2016

Purpose: The purpose of the present current study was to examine control of upper limb multi-joint movements with differential coordination stability. To achieve the goals of the study, torque analyses were utilized to answer questions about how torque components were differed among various elbow-wrist coordination patterns. Methods: Eight self-reported right-handed college students (3 males and 5 females, mean age=20.6 yr) were volunteered. The task required participants to rhythmically coordinate the flexion-extension motions of their elbow and wrist with coordination relationship of $0^{\circ}$, $90^{\circ}$, and $180^{\circ}$relative phases between the two joints. Mean relative phase and phase stability (standard deviation of relative phase) were computed to for analysisze of overall coordination performance. To determine the figure out characteristics of torque components in elbow and wrist joints, impulse values of muscle torque (MT) and interactive torque (IT) and MT as a percentage of cycle duration (MT-PCD) were analyzed. Results: Torque results showed that the proximal elbow joint generated motions with mainly muscle efforts regardless of coordination patterns, while the distal wrist joint adjusted the coordination patterns by changing amount of MT. Impulse analyses showed that the least stable $90^{\circ}$ pattern was performed by utilizing a similar coordination strategy of the most stable $0^{\circ}$ pattern. Conclusion: The present current study suggests that the roles of distal and proximal joints differ in order to achieve various multi-joint coordination movements. This study provides information for use in gives an idea to development of rehabilitation or training programs for to persons with an impaired upper limb motor ability.

• 대한기계학회논문집
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• 제18권6호
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• pp.1412-1420
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• 1994

The adhesively bonded tubular double lap joint has better torque transmission capability and reliability in bonding operation than the single lap joint. In this paper, an analytic solution for the torque transmission capabilities and stress distributions of the adhesively bonded tubular double lap joint was derived assuming the linear properties of the adhesive and adherends. From the calculation, it was found that the torque transmission capabilities of the double lap joint was more than 40% larger compared to that of the single lap joint.

• 로봇학회논문지
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• 제13권1호
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.