• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.964-969
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• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• Journal of the Korean Society of Physical Medicine
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• v.16 no.3
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• pp.21-27
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• 2021

PURPOSE: This study examined the relationship between the severity of a hallux valgus (HV) deformity and the kinetic three-dimensional ground reaction force (GRF) through a motion analysis system with force platforms in individuals with a HV deformity during normal speed walking. METHODS: The participants were 36 adults with a HV deformity. The participants were asked to walk on a 6 m walkway with 40 infrared reflective markers attached to their pelvic and lower extremities. A camera capture system and two force platforms were used to collect kinetic data during gait. A Vicon Nexus and Visual3D motion analysis software were used to calculate the kinetic GRF data. RESULTS: This research showed that the anterior maximal force that occurred in the terminal stance phase during gait had a negative correlation with the HV angle (r = -.762, p < .01). In addition, the HV angle showed a low negative correlation with the second vertical maximal force (r = .346, p < .05) and a moderate positive correlation with the late medial maximal force (r = .641, p < .01). CONCLUSION: A more severe HV deformity results in greater abnormal translation of the plantar pressure and a significantly reduced pressure force under the first metatarsophalangeal joint.

• Journal of Korean Society for Quality Management
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• v.46 no.3
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• pp.425-440
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• 2018

Purpose: This study is aimed at developing of the flex resistance testing process at low temperature with the waterproof fabric to suit the military environment, and is designed to fit for the purpose of the waterproof materials in order to optimize the test method by finding out matters to improve from existing the test method and through previous studies. Methods: The test method, which has been applied to flex resistance of existing water-repellent materials, was improved and consequently, differentiated test results could be obtained according to the test temperature, sample size, and flexing method. Results: The testing of the total of 8 samples revealed that performance of the military requirement could hardly be met just by presenting the materials or 2~3 layers when the quality criteria for high functional water repellent fabrics were applied. PTFE(Polytetrafluoroethylene) is preferred to PU(Polyurethane) to be used in the extremely low-temperature environment, but durability under the low-temperature environment may be varied depending on film thickness or laminating technique even if the materials of waterproof films are identical. Therefore, in addition to the material or texture, the test method capable of reflecting durability under the low-temperature environment shall be suggested, and the newly designed test method proposed in this study was shown to suggest differentiated quality criteria by the material. Conclusion: The water resistance measurement and the test method following flex resistance with expanded range of flex will enable the differentiable test of the samples according to the number of repetition. This study is meaningful in that it suggests a differentiable test method capable of establishing a basis of deciding suitable material when selecting military goods made of water repellent material by properly improving the test method.

• The Journal of the Acoustical Society of Korea
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• v.32 no.5
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• pp.369-376
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• 2013

Using Lowson's acoustic analogy, low frequency noise of a wind turbine (WT) is predicted in time domain and the noise sources contributing to the low frequency noise is analyzed. To compute averaged pressure distribution on blades of the WT as noise source, XFOIL is utilized. The blade source domain is divided into several segments along the span direction to compute force exerted on air surrounding the blade segments, which is used as input for noise prediction. The noise sources are decomposed into three terms of force fluctuation, acceleration and velocity terms and are analyzed to investigate each spectral contribution. Finally, predicted spectra are compared with measured low frequency noise spectrum of a wind turbine in operation. It is found that the force fluctuation component contributes strongly in low frequency range with increasing wind speed.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.30 no.6
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• pp.376-380
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• 2017

In this paper, we prepared a metal alloy resistor with stable thermal electro motive force (thermal EMF) as well as a low temperature coefficient of resistance (TCR) by adjusting the manganese proportion from 3 to 12 wt% in the Cu-Mn-Ni alloy. Composition of the fabricated metal alloy was investigated using energy dispersive X-ray (EDX) analysis. The TCR of each sample was measured as 44.56, 40.54, 35.60, and 31.56 ppm for Cu-3Mn-2Ni, Cu-5Mn-2Ni, Cu-10Mn-2Ni, and Cu-12Mn-2Ni, respectively. All the resistor samples were available for the F grade (${\pm}1%$ of the allowable error of resistance) high-precision resistor. All the samples satisfied the baseline of high thermal EMF (under 3 mV at $60^{\circ}C$); however, Cu-3Mn-2Ni and Cu-5Mn-2Ni satisfied the baseline of low thermal EMF (under 0.3 mV at $25^{\circ}C$). We were thus able to design and fabricate the metal alloy resistor of Cu-3Mn-2Ni and Cu-5Mn-2Ni to have low TCR and stable thermal EMF at the same time.

• Physical Therapy Korea
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• v.23 no.1
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• pp.72-79
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• 2016

Background: Increased foot pronation causes biomedchanical changes at the lower limbs, which may result in musculoskeletal injuries at the proximal joints. Pronation rear-foot leads to plantar fasciitis, Achilles tendonitis, and posterior tibial tendonitis pathologically. According to the recent meta-analysis, They showed that therapeutic adhesive taping is more effective than foot orthoses and motion control footwear, low-Dye (LD) taping has become the most popular method used by physiotherapists. Objects: The purpose of this study was to determine the immediate effects of LD taping results in different ankle motion and ground reaction force (GRF) as before and after applied LD taping on pronated rear-foot during gait. Methods: Twenty-four participants were recruited for this study. The gait data were recorded using an 8-camera motion capture system and two force platforms. At first, the experiments were carried out that participants walked barefoot without LD taping. And then they walked both feet was applied LD taping. Results: The ankle inversion minimum was significantly greater after LD taping than before LD taping (p=.04); however, in the GRF, there were no significant differences in the inversion maximum or total motion of the stance phase (p=.33, p=.07), or in the vertical (p=.33), posterior (p=.22), and lateral (p=.14) peak forces. Conclusion: The application of taping to pronation rear-foot assists in increased ankle inversion.

• Journal of Electrical Engineering and Technology
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• v.4 no.2
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• pp.255-265
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• 2009

This paper presents the acoustic noise and mechanical vibration reduction of a coreless brushless DC motor with an air dynamic bearing used in a digital lightening processor. The coreless brushless DC motor does not have a stator yoke or stator slot to remove the unbalanced force caused by the interaction between the stator yoke and the rotor magnet. An unbalanced force makes slotless brushless DC motors vibrate and mechanically noisy, and the attractive force between the magnet and the stator yoke increases power consumption. Also, when a coreless brushless DC motor is driven by a $120^{\circ}$ conduction type inverter, high frequency acoustic noise occurs because of the peak components of the phase currents caused by small phase inductance and large phase resistance. In this paper, a core-less brushless DC motor with an air dynamic bearing to remove mechanical vibration and to reduce power consumption is applied to a digital lightening processor. A $180^{\circ}$ conduction type inverter drives it to reduce high frequency acoustic noise. The applied methods are simulated and tested using a manufactured prototype motor with an air dynamic bearing. The experimental results show that a coreless brushless DC motor has characteristics of low power consumption, low mechanical vibration, and low high frequency acoustic noise.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.9
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• pp.2206-2222
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• 1995

In this study, the characteristics of the three-dimensional turbulence flow in a rotating square sectioned 90.deg. bend were investigated by numerical simulation. And a dimensionless number, Coriolis force ratio, primarily subjected to the feature of the flow in the rotating 90.deg. bend was obtained as a result of one-dimensional theory. In the simulation study, low Reynolds number ASM developed by Kim(1991) in the square sectioned 180.deg. bend flow was modified in order to consider the rotational effects in the testing flows. In the near wall region of low Reynolds number, four turbulence models were employed and compared in order to find the most appropriate model for the analysis of the rotating 90.deg. bend flow. By comparison of the results with the experimental data, it is shown that low Reynolds number Algebraic Stress Model with rotating terms reflects most correctly the rotational effects. As the results of this study, centrifugal forces associated with the curvature of the bend and Coriolis forces and centripetal forces associated with the rotation affect directly both the mean motion and the turbulent fluctuations. Their actions on the mean flow are to induce a secondary motion while their effects on turbulence are to modify the pressure strain.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.376-381
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• 2009

The increasing needs for higher cargo capacity in the container vessels' fleet has led to ship builder's demand for higher power output rating engine to meet the propulsion requirement, thus, leading to the development of super large two stroke low speed diesel engines. This large sized bore engines with more than 12 cylinders are capable of delivering power output up to more than 100,000 bhp at maximum continuous rating. The thrust variation force due to axial vibration occurring in propulsion shafting of these ships are transmitted to ship structure via thrust bearing. This force may vibrate the super structure of ship in the fore-aft direction and the fatigue strength of crank shaft can be decreased by additional bending stress increase in crank shaft pin and journal. In this paper, the axial vibration of propulsion shafting system on the 14RT-flex96C super large diesel engine with 14 cylinders is identified by theoretical analysis and vibration measurement.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.359-371
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• 1994

A drop weight type impact test system is designed and set up to experimentally investigate impact responses of composite laminates subjected to the low-velocity impact. Using the test system, the impact velocity and the rebound velocity of the impactor as well as the impact force history are measured. An error of the measured data due to a difference in measuring position of the sensor is corrected and, for the estimation of real contact force history, a method of correcting an error due to friction forces is developed. Experimental methods to fix the boundary edgy of laminate specimens in impact testing are investigated and the impact tests on the specimens fixed by those methods are performed. Impact force histories and dynamic strains measured from the tests are compared with numerical results from the finite element analysis using the contact law. Consequently, the nonlinear numerical results considering the large deflection effects are agreed with the experimental results better than the linear ones.