• Journal of the Ergonomics Society of Korea
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• v.21 no.1
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• pp.81-93
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• 2002

This study aims to provide joint angles of comfort for females, based on the psychophysical scaling method. Ten female subjects participated in the experiment for measuring perceived discomfort for varying joint motions. The subjects were instructed to maintain given joint motions for a minute, and to rate their perceived discomfort for the motions during a minute's rest by using the free modulus method of the magnitude estimation. Joint angles of comfort were calculated from the regression equations based on the experimental results, in which levels of joint motions were used as independent variables and perceived discomforts as dependent variables. The results showed that joint angles of comfort for the joint motions investigated were much smaller than full range of motions for corresponding joint motions. The ratios of joint angle of comfort to its range motion for the hip were found to be smallest of all joint motions dealt with in this study, and those for the neck were the largest. In addition, comfortable joint angles for females were much smaller than those for males. It is recommended that when designing or evaluating workplaces ergonomically, different comfortable joint angles should be applied according to workers' or population's gender.

• Journal of Biomedical Engineering Research
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• v.22 no.3
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• pp.293-301
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• 2001

A patient-specific musculoskeletal model, whose parameters can be identified noninvasively, was developed for the automatic generation of patient-specific stimulation pattern in FES. The musculotendon system was modeled as a torque-generator and all the passive systems of the musculotendon working at the same joint were included in the skeletal model. Through this, it became possible that the whole model to be identified by using the experimental joint torque or the joint angle trajectories. The model parameters were grouped as recruitment of muscle fibers, passive skeletal system, static and dynamic musculotendon systems, which were identified later in sequence. The parameters in each group were successfully estimated and the maximum normalized RMS errors in all the estimation process was 8%. The model predictions with estimated parameter values were in a good agreement with the experimental results for the sinusoidal, triangular and sawlike stimulation, where the normalized RMS error was less than 17%, Above results show that the suggested musculoskeletal model and its parameter estimation method is reliable.

• Journal of the Korean Geotechnical Society
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• v.39 no.5
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• pp.5-12
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• 2023

This study investigates the existing models for estimating the shear strength of rock joints, presents related problems, and introduces a newly proposed model to overcome the problems. The results of many experimental tests show that the shear strength of a rock joint depends on many complex factors, including asperity angle, compressive strength, applied normal stress, friction angle, asperity cohesive strength, and progressive damage of asperities. However, the existing models do not account for these factors enough. To overcome these problems, Son (2020) developed a new model to estimate the shear strength of rock joints and confirmed its reliability by comparing with experimental results and existing models. In this paper, the developed model was used to investigate the various factors that affect the joint shear strength, and the results were compared and analyzed. Through this study, the factors that affect the shear strength of the rock joint could be identified in more detail.

• The Journal of Korea Robotics Society
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• v.13 no.1
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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.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.313-318
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• 2014

In this paper, we propose a method for correcting the measurement axis twist that occurs in the process of wearing and each estimation method of joint in which the inertial measurement unit based in health arm by the method of operation upper limb rehabilitation equipment of hemiplegic patients. In order to verify the proposed method, it is fitted with a inertial measurement unit of the upper arm and forearm of the experimenter left arm, verified by comparing actual joint angle is detected by photographing the arbitrary posture, the angle that the estimated joint. Then, it was verified by comparing the applied front / rear techniques for correcting the measurement axis twist. A result of the experiment, before applying the measurement axis twist correction, joint, after but each match rate showed a weak concordance rate in 89.16% and were corrected, measurement axis twist, each concordance rate of joint agreement of 93.28% I understand that it has been 4.12% improvement in the rate.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.50-58
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• 2017

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

• Journal of the Ergonomics Society of Korea
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• v.18 no.2
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• pp.103-120
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• 1999

The purpose of this study was to evaluate the manual workload in repetitive wrist and finger motion. To evaluate manual workload, angular displacement of the joint, EMG of the muscle and subjective rating were studied. Both wrist motion and finger motion were studied. A screw-driving task was used for the wrist motion experiment. A keyboard typing task was used for the finger motion experiment. All finger joint angles and wrist angles were measured by an angle-measuring glove($CyberGlove^{TM}$, Virtual Technologies, Inc.). Surface EMG was recorded from FCU muscle and FDS muscle simultaneously with the angle measurement. Subjective ratings of exertion were also recorded using the modified Borg's CR-10 scale. Repetition rates of 0.5, 1, 2 motions per second were used with each task. As a result, manual workload increased with increasing repetitiveness. Peak spectral magnitude and frequency components corresponded closely with joint angular displacement amplitudes and repetition rates. Results of the correlation analysis showed that there were significant correlation among EMG, frequency-weighted motion and subjective measurement. Both EMG and frequency-weighted filtering showed consistent workload estimation with increasing task frequency. Subjective ratings showed slight over-estimation of the workload as the task frequency is increased.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.244-244
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• 2000

We proposed the above-knee prosthesis using rotary MR damper in which knee joint is semi-actively controlled by microprocessor. Dissipation torque in the knee joint can be controlled by the magnetic field which is induced by applying current to a solenoid, Tracking control of knee joint angle was tested by 3-DOF Leg simulator. The experimental results show that the proposed above-knee prosthesis system had good performance in swing phase tracking and repetitive controller in conjunction with a computed control law and PD control law, reduced RMS tracking error as the repetitions of tracking. Moreover, desired knee angle trajectory was generated based on the estimation of gait period with the gyro signal and the tracking control was performed.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.284-291
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• 2011

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.