• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• International Journal of High-Rise Buildings
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• v.9 no.2
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• pp.155-166
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• 2020

To connect exterior reinforced concrete (RC) columns with the steel belt truss, the gusset plates are welded to the steel plates embedded in the RC column. Then, the concrete around an embedded plate is very likely to be damaged by the heat input from a long-time (6 to 48 hours) welding of the embedded and gusset plates at a joint between RC columns and steel belt truss. However, very few studies have assessed the concrete damage caused by the welding heat between embedded and gusset plates, and no clear onsite solution has been found. In this paper, experimental tests have been carried out on 4 full-scale specimen to analyze the effect of long-time (about 6 hours) onsite welding (1-side welding and 3-side welding) between a gusset plate and an embedded plate in high strength concrete with compressive strength of 55 MPa and 80 MPa on RC columns. The effect of the long-time welding heat of embedded and gusset plates, which are used in real high-rise building construction sites, on concrete is analyzed in terms of the following three items: 1) temperature distribution, 2) pattern and characteristics of cracks, and 3) effect of the cracks on the compressive strength of RC column. Based on the experimental results, even though the heat input up to about 150? from the long-time onsite welding on the high-strength concrete column for the joint could result in concrete cracks in a radial form, it is found that the welding cracks have no effect on the axial stiffness and strength of the concrete column.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• Journal of the Korean Society of Physical Medicine
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• v.11 no.2
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• pp.71-76
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• 2016

PURPOSE: The purpose of this study was to compare isometric contraction of deltoid middle fiber between elastic band and light dumbbell on various shoulder abduction angle. And this study intends to examine the compare with isometric contraction on deltoid middle fiber in various abduction angle of shoulder joint. METHODS: The participants of this study were Korean healthy adult in their 20s (n=60). The 8 channel surface electromyography was used to measure activity of the deltoid middle fiber at isomeric contraction on various abduction angle: $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, $90^{\circ}$, $120^{\circ}$ of shoulder joint using elastic band: red color Theraband and dumbbell: 2kg. The data used in the analysis of the present study was the root mean square. RESULTS: The deltoid middle fiber activation was not significantly different between elastic band and dumbbell at each abduction angle. The deltoid middle fiber activation significantly increased as more to increased shoulder abduction angle in elastic band and dumbbell. CONCLUSION: The elastic band and dumbbell was to provide the similarly load to the deltoid middle fiber isometric contraction on all of the shoulder abduction angle. The deltoid middle fiber activation increased as more to increased shoulder abduction angle in elastic band and dumbbell. These results may be an important reference in development of exercise on shoulder joint.

• Korean Journal of Veterinary Research
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• v.33 no.1
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• pp.7-21
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• 1993

The morphogenesis of the stifle joint in Korean cattle embryos and fetuses was observed by radiography, alizarin red S stain and light microscopy. Fourty-eight(48) embryos and fetuses, ranging from 11mm to 160mm in crown-rump length (C-R L), were used for this study. The experimental samples were divided into twelve separate groups according to their C-R L. The first to the nineth group ranged from 11-100mm in C-R L, spaced at 10mm intervals. The tenth to the twelfth group ranged in C-R L from 101mm to 160mm, and were spaced at 20mm intervals. The results were as follows; 1. The first appearance of the interzone between the femur and tibia was formed in the second experimental group. The patellar ligament and cruciate ligament appeared in the third group and the patella, menisci and synovial cavity appeared in the fourth group. 2. The lateral and medial menisci were first obseved in the fourth group, and these structures showed crescent shape in the fifth group of the fetuses. 3. The first appearance of the femoro-tibial joint cavity was in the third group. The fifth group contained the first appearance of the patello-femoral cavity. Also, the femoro-tibial cavity was divided into two cavities by the anterior and posterior cruciate ligament.

• Korean Journal of Materials Research
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• v.26 no.12
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• pp.751-756
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• 2016

Graphite was diffusion-bonded by hot-pressing to W-25Re alloy using a Ti interlayer. For the joining, a uniaxial pressure of 25 MPa was applied at $1600^{\circ}C$ for 2 hrs in an argon atmosphere with a heating rate of $10^{\circ}C\;min^{-1}$. The interfacial microstructure and elemental distribution of the W-25Re/Ti/Graphite joints were analyzed by scanning electron microscopy (SEM). Hot-pressed joints appeared to form a stable interlayer without any micro-cracking, pores, or defects. To investigate the high-temperature stability of the W-25Re/Ti/Graphite joint, an oxy-acetylene torch test was conducted for 30 seconds with oxygen and acetylene at a 1.3:1 ratio. Cross-sectional analysis of the joint was performed to compare the thickness of the oxide layer and its chemical composition. The thickness of W-25Re changed from 250 to $20{\mu}m$. In the elemental analysis, a high fraction of rhenium was detected at the surface oxidation layer of W-25Re, while the W-25Re matrix was found to maintain the initial weight ratio. Tungsten was first reacted with oxygen at a torch temperature over $2500^{\circ}C$ to form a tungsten oxide layer on the surface of W-25Re. Then, the remaining rhenium was subsequently reacted with oxygen to form rhenium oxide. The interfacial microstructure of the Ti-containing interlayer was stable after the torch test at a temperature over $2500^{\circ}C$.

• Magazine of the Korea Concrete Institute
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• v.2 no.4
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• pp.91-98
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• 1990

Joints are provided in cement concrete pavements to control transverse and longitudinal cracking that occur due to restrained deformations caused by moisture and temperature variations in the slab. But the constuction of joints reduces the load-carrying capacity of the pavement at the joints, and pavements have been deteriorated by cracks at the slab edges along the joints due to traffic loads. Therefore, it is important to analyze the behavior of joints accurately in the design of cement concrete pavements. In this study, the mechanical behavior of cement concrete pavement slabs is analyzed by the plate-finite element model, and Winkler foundation model is adopted to analyze the subgrades. The load transfer mechan¬ism of joints are composed of dowel action, aggregate interlocking, and tied-key action, and the analytical pro¬gram is developed using these joint models. Using this numerical model as an analysis tool, the effects of joint parameters on the behavior of pavements are investigated.

• Journal of Korean Institute of Industrial Engineers
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• v.28 no.2
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• pp.216-222
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• 2002

The ergonomic human model can be considered as a tool for the evaluation of ergonomic factors in vehicle design process. The proper anthropometric data on driver's postures are needed in order to apply a human model to vehicle design. Although studies on driver's posture have been carried out for the last few decades, there are still some problems for the posture data to be applied directly to the human model due to the lack of fitness because such studies were not carried out under the conditions for the human model application. In the traditional researches, the joint angles were evaluated by the categorized data, which are not appropriate for the human model application because it is so extensive that it can not explain the posture evaluation data in detail. And the human models require whole-body posture evaluation data rather than joint evaluation data. In this study a postural evaluation function was developed not by category data but by the concept of the loss function in quality engineering. The loss was defined as the discomfort in driver's posture and measured by the magnitude estimation technique in the experiment using a seating buck. Four loss functions for the each joint - knee, hip, shoulder, and elbow were developed and a whole-body postural evaluation function was constructed by the regression analysis using these loss functions as independent factors. The developed postural evaluation function shows a good prediction power for the driver's posture discomfort in validation test. It is expected that the driver's postural evaluation function based on the loss function can be used in the human model application to the vehicle design process.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.891-898
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• 2005

Inertia welding is a solid-state welding process in which butt welds in materials are made in bar and in ring form at the joint race, and energy required lot welding is obtained from a rotating flywheel. The stored energy is converted to frictional heat at the interface under axial load. The quality of the welded joint depends on many parameters, including axial force, initial revolution speed and energy amount of upset. working time, and residual stresses in the joint. Inertia welding was conducted to make the large exhaust valve spindle for low speed marine diesel engine. superalloy Nimonic 80A for valve head of 540mm and high alloy SNCrW for valve stem of 115mm. Due to different material characteristics such as, thermal conductivity and flow stress. on the two sides of the weld interface, modeling is crucial in determining the optimal weld geometry and Parameters. FE simulation was performed by the commercial code DEFORM-2D. A good agreement between the Predicted and actual welded shape is observed. It is expected that modeling will significantly reduce the number of experimental trials needed to determine the weld parameters. especially for welds for which are very expensive materials or large shaft. Many kinds of tests, including macro and microstructure observation, chemical composition tensile , hardness and fatigue test , are conducted to evaluate the qualify of welded joints. Based on the results of the tests it can be concluded that the inertia welding joints of the superalloy exhaust valve spindle are better properties than the material specification of SNCrW.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.6
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• pp.585-592
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• 2014

In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.