• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.7
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• pp.601-607
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• 2012

The main function of a landing gear is to absorb the impact energy during touchdown. It it occasionally required for landing gear to have crashworthiness for improving survivability and safety in case of emergency landing. This paper introduces the design concept, performance analysis and drop test procedures for the development of the crashworthy landing gear. The shock absorbing ability and the crash behavior are proved by analyzing various sensor data and video clips from high speed camera recording during drop tests.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.8
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• pp.87-94
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• 2006

In this study, nonlinear crash analyses have been conducted for the skid landing gear of a helicopter. The realistic landing gear model of the commercial helicopter (SB427) is considered. Three-dimensional dynamic finite element model with variable thickness and material plastic behavior is constructed and LS-DYNA(Ver.970) is used to conduct nonlinear transient crash analyses for different impact conditions. Characteristics of nonlinear transient responses due to the ground crash are investigated for typical structural design criteria of a skid landing gear system. In addition, comparison results for maximum crash deformations of the skid landing gear are presented and the important effect of ground friction for numerical accuracy is described.

• Korean Journal of Applied Biomechanics
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• v.29 no.3
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• pp.137-143
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• 2019

Objective: Ligament laxity and hypotonia are characteristics of Down syndrome patients. The aim of this study was to compare the landing pattern between Down syndrome patients and typically developing subjects. To compare the landing pattern, variables related to ligament laxity and hypotonia i.e. vertical stiffness and lower extremities kinematics were investigated. Method: Five subjects with Down syndrome (age: $14.6{\pm}1.8years$, mass: $47.6{\pm}6.94kg$, height: $147.9{\pm}6.0cm$) and six able-bodied subjects (age: $13.2{\pm}0.4years$, mass: $54.7{\pm}6.7kg$, height: $160.1{\pm}9.8cm$) participated in this study. Results: The vertical displacement of the center of mass, vertical reaction force, leg stiffness and range of ankle angle range among Down syndrome patients were significantly different than typically developing group. The youth with Down's syndrome appeared to receive greater vertical impact force at landing than normal youth. Conclusion: The differences in the biomechanical characteristics suggest the delay in motor development among Down syndrome patients and an increased risk of injury to the lower extremity during movement execution such as drop landing.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.20 no.2
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• pp.7-12
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• 2012

A landing gear absorbs the impact energy during the touchdown and it generally consists of an oleo-pneumatic shock absorber and structural components. It should be designed not only to satisfy the static and fatigue strength requirements but to have the sufficient shock absorbing efficiency. The design loads and shock absorbing performance are to be validated by tests, which is required by MIL Spec and FAR, etc. This paper presents the development procedures from the design requirements to the qualification tests and technical points to be considered, with examples of the helicopter landing gear development.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.4
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• pp.284-290
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• 2014

To successfully explore the moon by lunar lander, it is essential to guarantee the safe landing of lunar lander. Therefore, efficient shock absorption system of lunar lander should be designed in order to reduce landing impact force. Also, for more practical design of lunar lander, it is important to consider the effect of lunar regolith. In the line of thought, finite element model of lunar lander considering the effect of lunar regolith is developed. To reduce landing impact force, optimization of shock absorption system for lunar lander has been carried out. In optimization, sequential approximate optimization method based on meta-model is used. Through the result of optimization, it is verified that landing impact force on lunar lander can be efficiently reduced by the present optimization procedure.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.311-325
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• 2003

A relation between the movement range of arms and arising moment has been studied to find out efficient movement range to minimize impact concerning arm landing in sports aerobics. Four male athletes who won top three in national-level sports aerobics competition were chosen for the experiment. They were allowed to jump in between two force platform so that the right hand and the right leg could land onto the front and rear force platform, respectively. The sampling frequency was 200 Hz. The main conclusions based on the analysis of the angle and joint moment parameters of wrist, elbow, and shoulder are as follows: 1. The wrist moment was small when its angle was small, indicating that the dorsi-flexion of the wrist joint offered a positive influence to reduce wrist moment. 2. The elbow angle increased as wrist angle decreased and vice versa. This means that the movement range of the wrist joint affects that of the elbow joint. The darsi-flexion of the wrist is the position to absorb the impact of the elbow effectively rather than to absorb the impact of the wrist itself. The impact is absorbed by the flexion of wrist joint rather than the wrist. 3. The degree of moment transfer of the shoulder joint, having absorbed the impact from the elbow and elbow joint, became dependent on the efficiency of the fore-joints impact absorption.

• Korean Journal of Applied Biomechanics
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• v.33 no.3
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• pp.110-117
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• 2023

Objective: The purpose of this study was to find out kinematic and kinetic differences the lower extremity joint according to the landing type during vertical jump movement after jump landing, and to present an efficient landing method to reduce the incidence of injury in youth players. Method: Total of 24 Youth players under Korean Sport and Olympic Committee, who used either heel contact landing (HCG) or toe contact landing (TCG) participated in this study (HCG (12): CG height: 168.7 ± 9.7 cm, weight: 60.9 ± 11.6 kg, age: 14.1 ± 0.9 yrs., career: 4.3 ± 2.9 yrs., TCG height: 174.8 ± 4.9 cm, weight: 66.9 ± 9.9 kg, age 13.9 ± 0.8 yrs., career: 4.7 ± 2.0 yrs.). Participants were asked to perform jump landing consecutively followed by vertical jump. A 3-dimensional motion analysis with 19 infrared cameras and 2 force plates was performed in this study. To find out the significance between two landing styles independent t-test was performed and significance level was set at .05. Results: HCG showed a significantly higher dorsi flexion, extension and flexion angle at ankle, knee and hip joints, respectively compared with those of TCG (p<.05). Also, HCG revealed reduced RoM at ankle joint while it showed increased RoM at knee joint compared to TCG (p<.05). In addition, HGC showed greater peak force, a loading rate, and impulse than those of TCG (p<.05). Finally, greater planta flexion moment was revealed in TCG compared to HCG at ankle joint. For the knee joint HCG showed extension and flexion moment in E1 and E2, respectively, while TCG showed opposite results. Conclusion: Compared to toe contact landing, the heel contact landing is not expected to have an advantage in terms of absorbing and dispersing the impact of contact with the ground to the joint. If these movements continuously used, performance may deteriorate, including injuries, so it is believed that education on safe landing methods is needed for young athletes whose musculoskeletal growth is not fully mature.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.49-56
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• 2015

Objectives : The purpose of this study was to present quantitative data and basic references to decrease the accident risk of soccer instructors. Methods : To obtain data, we conducted an investigation on how H/Q ratio affects the dynamic stability of the lower extremity at the time of drop landing. The study targeted 13 soccer players from C University who have not had any injuries or wounds in the lower extremity joints and in any other parts of their bodies over the last 6 months. By using CMIS (USA), the players were divided into two groups according to H/Q ratios higher and lower than 69%, respectively. The subjects in each group were instructed to perform a drop landing. Results : The H/Q ratio did not affect the maximal flexion angle of the knee joints at the time of drop landing. In addition the dominant group with a relatively high H/Q ratio was observed to have increased time to reduce shock and to efficiently absorb the ground reaction force during drop landing. Also, the dominant group with a relatively high H/Q ratio utilized the strong performances of the antagonistic muscles around the hamstrings and the controlled rotatory powers of the thighs that were applied to the tibias supported by the ground. Finally, H/Q ratio, load factors, and mean and maximum EMG were significantly negatively related, whereas GRFx showed a positive relationship. In fact, these factors all affected the impact of the load from the H/Q ratio to the knee joints. Conclusion : From these findings it can be concluded that unbalanced H/Q ratio can be considered as a predictor of knee joint injury at the time of drop landing.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.1-10
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• 2008

This study analyzed the rear foot angle of the supporting leg and the anatomical rotation angle of the kicking angle in soccer instep kick and drew conclusions as follows. When the supporting leg was landing on the ground, the valgus angle of the ankle joint reached the maximum peak, and plantar flexion was slightly different in the timing of the maximum peak between the two groups. The flexion angle of the rear foot was statistically significantly different between the two groups, and the movement of the crus on the landing of the supporting foot did not show a statistically significant difference between the groups. The crus leaned backward most before the impact, and the side to side gradient of the crus on impact was $22^{\circ}$. The flexion/extension of the hip joint of the kicking leg reached the maximum peak when the supporting foot was landing on the ground, and at the moment, the maximum extension angle of the hip joint was over $30^{\circ}$. The flexion angle of the knee joint of the kicking leg was largest after landing. While the maximum plantar flexion angle and maximum valgus angle of the ankle joint were not significantly different between the two groups, the maximum external rotation angle was significantly different.