• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 한국안전학회지
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• 제31권4호
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• pp.111-119
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• 2016

This study aimed to analyze postures that were frequently conducted in manufacturing industry. To find grip strength and muscle activities of each posture, Maximum Voluntary Contraction (MVC) and ElectroMyoGraphy (EMG) were measured. Based on the results of this study, the most appropriate posture could be suggested and used as a basic information for preventing musculoskeletal disorders. Most work-related musculoskeletal disorders have been occurred in the fields of manufacturing industry. According to previous studies, it was reported that the rate of musculoskeletal diseases of upper extremity was higher than that of other body parts. Accordingly, there were many studies about discomfort and grip strength of upper extremity. However, these studies dealt with single selection of wrist, elbow and shoulder. So, it was insufficient for comprehensive studies about upper extremity. And in order to improve the work posture, the physiological changes being generated by the combination of wrist, elbow and shoulder postures should be observed and analyzed. In order to conduct this study, thirty university students who had no records of MSDs involved were recruited. Independent variables were postures of wrist(pronation, neutral, supination), postures of elbow(flexion $45^{\circ}$, $90^{\circ}$) and postures of shoulder(flexion $0^{\circ}$, $90^{\circ}$). And dependent variables were MVC values and EMG values. Jamar dynamometer and TeleMyo 2400T G2 was used to measure MVC and EMG. MVC and EMG for 12 postures were measured for three second and for three times. Experiment was performed randomly. A 10 minutes rest period was provided after each t. To measure muscle load, the EMG signals of eight muscles (Biceps, Medial triceps, Lateral triceps, Brachioradialis, Extensor carpi ulnaris, Extensor carpi radialis, Flexor carpi ulnaris and Flexor carpi radialis) were evaluated. MVC values and EMG values were analyzed using Minitab ver. 14. The results showed that MVC value was the highest at shoulder $0^{\circ}$, elbow $45^{\circ}$ and wrist supination. In case of wrist postures, MVC of supination is the highest. In case of elbow and shoulder postures, MVC of flexion $45^{\circ}$ and $0^{\circ}$ was the highest. It was found that there were interaction between wrist and elbow posture under shoulder flexion and between shoulder and wrist under elbow flexion $45^{\circ}$. In case of the angle of shoulder $0^{\circ}$, elbow $45^{\circ}$ and wrist supination, the EMG values of four muscles(Medial Triceps, Extensor carpi ulnaris, Extensor carpi radialis, Flexor carpi ulnaris) were the highest. Based on this study, it is worth to note that the combination postures of upper extremity have a large impact on the MVC and EMG. The optimal condition upper extremity was shoulder flexion $0^{\circ}$, elbow flexion $45^{\circ}$ and wrist supination for preventing work-related musculoskeletal disease.

• 대한산업공학회지
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• 제29권4호
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• pp.271-282
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• 2003

Automotive occupant packaging has been a part of main ergonomics interests, especially, in terms of driver's posture. Previous research on driver's posture has mainly focused on the initial optimal posture for driving sedans. However, customer preferences on cars are shifting from sedans to RV and automobile manufacturing companies seek to understand temporal changes in drivers' posture according to driving environment. So the main aim of this study was to develop a driver's posture measurement system during driving and investigate casual changes due to duration, car type, traffic flow. Four male drivers participated in the experiments during one week. It was shown that considerable changes in their postures were caused with respect to driving environment, which implies that not only static optimal postures but their dynamic changes should be taken into consideration for proper design and evaluation of interior packaging. The research is expected to help packaging designers understand human drivers so as to improve their comfort.

• 전자공학회논문지B
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• 제30B권10호
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• pp.50-58
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• 1993

The problem of trajectory planning in two redundant robot systems is considered. The trajectory of each robot for the cooperative task is generated so that the robots assume their optimal configurations while following a given desired task. The cooperative task compatibility in and the weighted sum of manipulabilities are proposed and investigated as quality measures. The cooperative task compatibility includes the velocity and force transmission charateristics to the task requirements and so it measures the compatibilities of robot postures with respect to a given task. The weighted sum of manipuabilities of robot postures with respect to a given task. The weighted sum of manipulabilities is also considered as a quality measure since it is helpful to avoid singularities. The usefulness of the cooperative task compatibility and the weighted sum of manipulabilities are shown by computer simulation studies.

• Safety and Health at Work
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• 제9권3호
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• pp.326-333
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• 2018

Background: Echocardiography involves strenuous postures of the upper limbs. This study explored the physical workload in the neck and upper limbs in sonographers performing echocardiography, and the extent to which the workload differs from than in other work tasks (other sonographic examinations, and nonsonographic tasks). Methods: The physical load was assessed by inclinometry, goniometry, and electromyography methods in 33 female sonographers during authentic work using three different echocardiography techniques and other work tasks. Results: Echocardiography was characterized by low velocities of the head, arms, and wrists, and a low proportion of muscular resting time in the forearms, in the transducer limb, and the computer limb. The transducer limb was more elevated in one of the techniques, but this technique also involved a higher proportion of muscular resting time of the trapezius muscle. We also found a high proportion of awkward wrist postures in the transducer wrist in all three techniques; in one due to prolonged flexion, and in the others due to prolonged extension. Other work tasks were less static, and were performed with higher upper arm and wrist velocities. Conclusion: None of the three echocardiography techniques was optimal concerning physical workload. Thus, to achieve more variation in physical load we recommend that the equipment be arranged so that the sonographer can alternate between two different techniques during the workday. We also propose alternation between echocardiography and nonsonographic tasks, in order to introduce variation in the physical workload. Clinical expertise should be used to achieve further improvements.

• 한국컴퓨터그래픽스학회논문지
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• 제30권2호
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• pp.21-29
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• 2024

최근 자연스러운 모션 데이터에 대한 수요가 늘고 있지만, 클라이밍 모션을 정확하게 캡처하는 것은 가려진 부분이 많은 클라이밍 동작의 특성상 쉽지 않다. 또한 벽 구조물의 스캔이나 다양한 암벽 코스 준비 등 필요한 데이터를 수집하는 과정이 쉽지 않다. 본 논문에서는 강화학습을 이용한 클라이밍 모션 합성 방법론을 제안한다. 학습 과정은 두 단계의 난이도로 구성되어 있다. 첫 번째 단계는 매달리기 정책을 학습하는 것이다. 매달리기 정책은 자연스러운 자세로 홀드를 잡는 방법을 학습한다. 이후 추론 단계를 통해 위치, 자세, 잡기 상태를 다양하게 추출한 초기 상태 데이터세트를 만든다. 두 번째 단계에서는 이 초기 상태 데이터세트를 사용해서 실제 클라이밍을 수행하는 태스크를 학습한다. 클라이밍 정책은 자연스러운 자세로 타겟 위치로 이동하는 방법을 학습한다. 실험을 통해 제안하는 방법이 클라이밍 하기 위한 좋은 자세를 효과적으로 탐색할 수 있는 것을 보였다.

• 한국자동차공학회논문집
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• 제17권1호
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• pp.176-181
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• 2009

The passenger airbag(PAB) designed for standard sized adults may induce unexpected results to children in out-of-position(OOP) postures. In this work, using MADYMO software, simulations of the OOP injury of children have been performed with respect to PAB design parameters and child dummy positions. The attention is focused on some details with respect to the injury of 3 and 6 year old children in two OOP postures. Among the various design parameters of the passenger airbag systems, four parameters are selected for the sensitivity analysis of the injury with the Taguchi method: bag folding pattern, vent hole size, position of the cover tear seam and the type of door tear seam. An optimal combination of the parameters is suggested.

• 산업경영시스템학회지
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• 제23권60호
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• pp.37-46
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• 2000

A biomechanical model of lower extremity in seated postures was developed to assess muscular activities of lower extremity involved in a variety of foot pedal operations. The model incorporated four rigid body segments with the twenty-four muscles to represent lower extremity This study deals with quasi-static movement to investigate dynamic movement effect in seated foot operation. It is found that optimization method which has been used for modeling the articulated body segments does not predict the forces generated from biarticular muscles and antagonistic muscles reasonably. So, the revised nonlinear optimization scheme was employed to consider the synergistic effects of biarticular muscles and the antagonistic muscle effects from the stabilization of the joint. For the model validation, three male subjects performed the experiments in which EMG activities of the nine lower extremity muscles were measured. Predicted muscle forces were compared with the corresponding EMG amplitudes and it showed no statistical difference. For the selection of optimal seated posture, a physiological meaningful criterion was developed for muscular load sharing developed. For exertion levels, the transition point of type F motor unit of each muscle is inferred by analyzing the electromyogram at the seated postures. Also, for predetermined seated foot operations exertion levels, the recruitment pattern is identified in the continuous exertion, by analyzing the electromyogram changes due to the accumulated muscle fatigue.

• 전자공학회논문지B
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• 제29B권11호
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• pp.36-45
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• 1992

A numerical trajectory planning method for path-constrained trajectory planning is proposed which ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. For each robot, physical constraints of the robots such as limited torques or limited rotational velocities of the actuators are converted to the constraints on velocity and acceleration along the path, which is described by a scalar variable denoting the traveled distance from starting point. Collision region is determined on the coordination space according to the kinematic structures and the geometry of the paths of the robots. An Extended Coordination Space is then constructed` an element of the space determines the postures and the velocities of the robots, and all the constraints described before are transformed to some constraints on the behaviour of the coordination-velocity curves in the space. A dynamic programming technique is them provided with on the discretized Extended Coordination Space to derive a collision-free and time-optimal trajectory pair. Numerical example is included.