• Journal of muscle and joint health
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• v.23 no.3
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• pp.179-186
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• 2016

Purpose: The purpose of this study was to identify factors that influence dietary compliance in patients with liver cirrhosis. Methods: This study used a cross-sectional design and was conducted with a survey of 141 patients in liver cirrhosis who were treated at D-university hospital in Busan. For data analysis, descriptive statistics, Pearson's correlation coefficients, and a multiple regression were performed using SPSS/WIN 20.0 Program for windows. Results: The mean score was 3.47 in dietary compliance. Dietary compliance had a positive correlation with self-efficacy, perceived-benefit medical staff support, age, drink or not but had a negative correlation with perceived barrier. As a result of multiple regression analysis, self-efficacy and perceived-benefits explained 30.1% (F=7.69, p<.001) of the variance of dietary compliance. Conclusion: Dietary compliance was suggested to consider self-efficacy and perceived-benefits when developing a nutritional education programs for patients with liver cirrhosis.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Proceedings of the KIPE Conference
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• 1996.06a
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• pp.47-51
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• 1996

In this paper, we propose a method for compliance control of a SCARA type 2-freedom direct drive(DD) manipulator. Each joint of the manipulator is driven by a travelling ultrasonic motor(USM). The travelling USM has good some characteristics over conventional servo motors such as compact size, light weight, silent motion, high torque and high speed response. By controlling the elasticity and viscosity of robot joints, a robot can work in compliance with external environment. we control the elastic coefficient and the viscous coefficient of joint by adjusting the phase difference of the motor power. And we contemplate transient response of USM with adjusting the elastic coefficient and the viscous coefficient. To use the result, we can control the robot to reach its goal with compliance motion. It remains for further research to develop the impedance control of USM.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.372-379
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• 1994

In this study, the describing function is adopted to represent nonlinearity in the system equations. The compliance can be obtained by solving nonlinear simultaneous algebraic quations for multi-degrees-of-freedom system with multinonlinearities. When the technique is applied, the nonlinearity of the system can be identified from the compliance which is obtained from the sinusoidal excitation of the system. By employing the describing function in the Building Block Analysis, we can extensively develop the BBA into investigation of the continuous systems with nonlinearities. The evaluated compliance can quantitatively show the effects of nonlinearity such as the transfer of the natural frequency, the variance of the compliance at the natural frequency, and the jump phenomena which occur during sweeping of the excitation frequency.

• Journal of muscle and joint health
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• v.2 no.2
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• pp.168-184
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• 1995

This deductive-survey study was undertaken in order to examine if there were relationship between causal perceptions, expectation for the cure and compliance. The sampling method was a non-probability, purposive sampling technique. The participants of this study was 195 volunteers 1) who have been diagnosed as having chronic arthritis and 2) who were at the rheumatis center of one university hospital in Seoul between September 18th to September 25th 1989. This instruments used for this study were the compliance scale developed by Choi and causal perception scale developed by the researcher. Analysis of data was done using pass analysis, Pearson correlation coefficient. The result of study were as follow : Hypothesis 1 : "It's correlated that causal perception, expectation for cure and compliance" was accepted. (F=4.85, p< .05) Hypothesis 2 : "It's correlated that causal perception, expectation for cure and with depression" was partially accepted. Total age group-worry and anxiety (r=.1580, p<.001) After 40-function of immunity (r=.1731, p<.05) warry and anxiety (r=.1730, p<.001). In the relationship between general characteristics and the variables, age group correlated with compliance and causal perception.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of Welding and Joining
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• v.30 no.6
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• pp.74-79
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• 2012

It depends on the joint configuration, dimensions and constraints of the joint whether the residual stress at the root of single-sided butt weld is tensile or not. Therefore, recommendation is generally made that high R ratio should be used in the fatigue test of welded joint in order to prevent excessively long life caused by compressive residual stress. In this research, the residual stress profile in butt weld joint was obtained through compliance method, using successive extension of a slot and measurement of the variation of strain during the slot extension. The residual stress profile was firstly assumed to be the linear summation of Legendre polynomials up to 9th order excluding 0th and 1st order. Strain variation on the surface was measured while the slot was being extended by cutting to find out the 8 unknown coefficients of each polynomial term. The cut was made by the electric discharge machine. It was concluded that the residual stress near the surface is positive valued, however, it turned into the negative value as soon as it passed through 2 or 3 mm of the depth.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.159-166
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• 1998

The problem of interface crack in the bonded structures has received a great deal of attention in recent years. In this paper the aluminum bonded single lap-joint containing the interface edge crack is investigated. The tensile load and the average shear stress of the adhesive joints which have different crack length are obtained from the static tensile tests. The critical value of crack length to provoke the interface fracture is determined to a/L=0.4, where a is the interface crack length and L is the adhesive lap-length. The fracture mechanical parameters are introduced to confirm the existence of the critical crack length. The compliance and the stress intensity factors are calculated using the displacement and the stress near the interface crack tip by the boundary element method. These numerical results support the experimental results that the critical value of a/L is 0.4. It is known that the compliance and the stress intensity factors are the efficient parameters to estimate the bonded single lap-joint containing the interface edge crack.

• Journal of muscle and joint health
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• v.18 no.1
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• pp.39-49
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• 2011

Purpose: The purpose of this study was to identify the effects of CD-ROM education on anxiety and self-care compliance in patients undergoing spinal surgery. Method: This study used a nonequivalent control time difference design. A sample of 51 participants received both CD-ROM education (n=25) or booklet education (n=26) regarding spinal surgery procedure and postoperative self-care. The data were collected using a self-administered questionnaire containing State-Trait Anxiety Inventory (STAI Form Y-2), Visual analog scale, and self-care compliance. Result: The level of trait anxiety in the experimental group was not significantly different from that in the control group (t=-6.44, p=.523). The level of state anxiety in the experimental group was significantly lower than in that the control group according to time changes (F=4.17, p=.018). State anxiety showed significantly negative correlation to self-care compliance (r=-.30, p=.034). Conclusion: The education program using CD-ROM for spinal surgery patients can be applied to nursing practice for relieving state anxiety and promoting self-care compliance.