• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.318-325
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• 2019

NREX, an upper limb exoskeleton robot, was developed at the National Rehabilitation Center to assist in the upper limb movements of subjects with weak muscular strength and control ability of the upper limbs, such as those with hemiplegia. For the free movement of the shoulder of the existing NREX, three passive joints were added, which improved its wearability. For the flexion/extension movement and internal/external rotation movement of the shoulder of the robot, the ball lock pin is used to fix or rotate the passive joint. The force and torque between a human and a robot were measured and analyzed in a reaching movement for four targets using a six-axis force/torque sensor for 20 able-bodied subjects. The addition of two passive joints to allow the user to rotate the shoulder can confirm that the average force of the upper limb must be 31.6% less and the torque must be 48.9% less to perform the movement related to the axis of rotation.

• The Journal of Korean Academy of Prosthodontics
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• v.29 no.3
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• pp.121-140
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• 1991

Fifteen dental college students of Chosun University without the abnormal occlusion, the history and symptom of temporomandibular dysfunction(TMD), and who had all permanent teeth except third molar and the fifteen moderate group and the fifteen severe group classified according to Helkimo's dysfunction index among patients on the basis of the symptom of TMD were selected. The occlusal contact, occlusal force and occlusal interference in eccentric movement was studied and analyzed using T-Scan system. The result were as follows : 1. The TLR centering around midsagittal axis was located at $1.42{\pm}0.82mm$ in control group, $3.36{\pm}1.45mm$ in severe group, and as TMD was heavier, occlusal contact was located at the farther point from midsagittal axis. 2. The PLR from the first contact to the fifth contact centering around midsagittal axis was located at $1.73{\pm}1.78mm$ in control group, $3.36{\pm}1.41mm$ in moderate group, and $5.39{\pm}4.32mm$ in severe group, and as TMD was heavier, occlusal contact was located at the farther point from midsgittal axis. 3. The TFB, PFB, RFB and LFB of occlusal contact centering around incisal axis had no significant difference statistically among control group, moderate group, and severe group, and it was located at first molar. 4.The LF and RF was smaller in TMD group than in control group. 5. The LR moment of occlusal force centering around midsagittal axis was located at $178.51{\pm}139.81N.mm$ in control group, $466.25{\pm}296.47N.mm$ in moderate group, and $749.18{\pm}588.18N.mm$ in severe group. And as TMD was heavier, it was located at the farther point from midsagittal axis. 6. The RL and LL of occlusal force centering around incisal axis had not-significance statistically among control group, moderate group, and severe group, and it was at the first molar. 7. The number of occlusal interference of the eccentric movement was increased in the patients of TMD.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.5 s.170
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• pp.197-204
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• 2005

In this study, ground reaction force(GRF), absolute symmetry index(ASI) and coefficient of variation(CV) of fixed, single-axis and multi-axis prosthetic ankle assemblies were investigated to show the biomechanical evaluation for above knee amputees. In the experiments, 37 normal male volunteers, two male and two female AK amputees were tested with fixed, single-axis and multi-axis prosthetic ankle assembly. A gait analysis was carried out to derive the ratio of GRF to weight as the percentage of total stance phase for ten points. The results showed that fixed-axis ankle was superior to the other two ankle assemblies for the characteristic of forwarding and breaking forces. Multi-axis ankle was relatively superior to the other two ankle assemblies for gait balancing and movement of the center for mass. single-axis ankle was relatively superior to the other two ankle assemblies for CV and ASI of GRF.

• Journal of Korean Elementary Science Education
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• v.31 no.3
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• pp.386-397
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• 2012

The purpose of this study was to find a way to improve the science textbook graph through analyzing teachers' interpretation process with eye movement tracking when they try to read the science textbook graph. Participants in this project were 10 elementary school teachers while bar graphs, line graphs, pie charts in 2007 revision science textbooks were used as materials. SMI (SensoMotoric Instruments)' iView X TM RED 120 Hz was used in order to collect eye movement data. Although subjects paid attention to the title of the graph at first, the consequence of the eye fixation was changed by the composition of the graph in case of the rest of areas. In particular, the flow of visual attention and fixation time were affected by the form and configuration of the graph. The diversity of graph construction caused confusion in interpreting graphs; the manner of presenting title, the difference of background colors, size of characters, the name of X-axis and Y-axis. Out results showed that the conformation of graphs as well as the presentation of each factor should be composed in accordance with the educational purpose for helping users to easier understanding.

• The Journal of Korean Academy of Prosthodontics
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• v.23 no.1
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• pp.137-144
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• 1985

This study was designed to investigate the side shift of orbiting condylar movement by direct measurements from tracings of Denar pantograph. It is well known that side shift has much influence on the articulating surface of teeth. In this study, after locating the ture hinge axis point with Denar hinge axis locatior, the recordings of Mandibular movement were obtained from Denar pantographic recording assembly, and immediate side shift and progressive side shift were measured. For this study, 20 dental studnts who have no missing teeth and no difficulties of mandibular movement and 4 patients who were, treated by occlusal therapy were selected. The results obtained were as follows, 1. The prevalence of immediate side shift was 42%, and the immediate side shift of greater than 0.5mm was only 17%. 2. The mean of immediate side shift (20 of 48) was 0.38mm, that of right lateral excursion (7 of 24) was 0.27mm, and that of left lateral excursion (13 of 24) was 0.44mm. 3. The mean of progressive side shift was $7.21^{\circ}$ that of right lateral excursion was $6.46^{\circ}$, and that of left lateral excursion was $7.96^{\circ}$.

• The Journal of Korean Academy of Prosthodontics
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• v.22 no.1
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• pp.72-78
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• 1984

The notion that the axis of the shaft of the articulator must coincide the patient's mandibular transverse axis tells us the importance of locating the axis precisely. When using kinematic axis to transfer a cast to an articulator, the anatomic asymmetry of the contralateral points will result in certain distortion when the axis transferred to an articulator where the mechanical axis produces symmetry. In this study, after locating the true hinge axis point with Denar hinge axis locator, the discrepancies between true hinge axis point and arbitrary hinge axis point that was 13mm anterior from the posterior margin of center of trangus to the outer canthus of eye were measured. And the discrepancies between left and right true hinge axis point in the superoinferior and anteroposterior directions were measured. For this study, 20 dental students who have no missing teeth and no difficulties of mandibular movement were selected. Upper and lower cast of subjects were mounted on Denar Mark II articulator uisng Denar Slidematic face-bow and centric relation record for the measurement of discrepancies between left and right true hinge axis points. The results obtained as follows. 1. The mean distance from the arbitrary hinge axis point to the true hinge axis point was as follows. Right: horizontal distance; 1.99mm, vertical distance; 2.12mm, linear distance; 3.36 mm. Left: horizontal distance; 1.39mm, vertical distance; 2.06mm, linear distance; 2.09mm. Total: horizontal distance; 1.69mm, vertical distance; 2.09mm linear distance; 3.06 mm. 2. The 87.5% of true hinge axis points were within 5mm of the arbitrary hinge axis point. 3. The mean discrepancies between the right and left hinge axis point were 2.92mm in superoinferior direction and 4.74mm in anteroposterior direction. 4. When transferring the axis to the articulator, anatomic asymmetry between right: and left axis point produces in dislocation of cast on the articulator, and undesirable shift in esthetic tooth position will be resulted.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.844-847
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• 1996

This paper describes the servo position control for the 2-axis positioning table the servo controller consists of conventional feedback loops, disturbance observer. To reduce the contour error, which occurs in the multi-dimensions machines, cross-coupled controller(CCC) is suggested. A weak point of the CCC is their low effectiveness in dealing with arbitrary nonlinear contour such as circles and parabolas. This paper introduces a new nonlinear CCC that is based on control gains that vary during the contour movement The gains of CCC and adjusted in real time according to the shape of nonlinear contour. The feedback controller based on the disturbance observer compensated for external disturbance, plant uncertainty and bad effectiveness by friction model. Suggested servo controller which improve the contouring accuracy, apply to the 2-axis system. Simulation results on 2-axis table verify the effectiveness of the proposed servo controller.

• Korean Journal of Applied Biomechanics
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• v.19 no.2
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• pp.337-345
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• 2009

The purpose of this study were to find out the differences in kinematic variables of racket movement by performing the tennis serve. Three top male tennis players participated in this study. Three synchronized high-speed cameras were used to record the service action of top players for Three dimensional video analysis. The results of this study showed that (1) the velocity of the tennis racket at impact is important to the generation of racket velocity to Y-axis. This result indicates that forward motion and upward movement of the racket; (2) with respect to racket angular velocity at impact, the fast angular momentum of X-axis is important to generate the velocity of the tennis ball. This result indicate upward movement of the racket with a strong flexor of wrist joint; (3) the velocity of the tennis ball was influenced by the change of angular linking the Z-axis to -X-axis. This result indicates that the high velocity of the tennis ball is obtained from having the racket unitedly moving to the direction of the bill's flight at the acceleration interval and acquiring the distance of acceleration with the racket head vertically to the ground at the back scratching.

• Korean Institute of Interior Design Journal
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• no.30
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• pp.78-85
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• 2002

Human exists in environment. As environment affects in human movement, human reacts to everything happens in environment especially by the view point of visual continuity and changeability. This study has two purposes. The one is to clarify the visual changeability due to the Human movement from the visual point based on checking the visual field. And the other is to understand the applicable possibility of Philip Thiel's method through the experiment in passing ways. Condition of this study is that colors and figures are affective elements of visual environmental sequence by the Human movement. The Human movement is due to the visual phenomenon. That means it is not limited in Philip Theil's method(Node, District). In particular, the chroma which is checked by the BPA(Basic-Pattern-Area) is the most affective visual environmental element in contemporary shopping mall. Also, everything in visual environment and the movement is connected by the time axis. As an analytical method, the sequence notation devised by Philip Thiel was applied.