• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1232-1235
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• 2004

The purpose of this study is to design electrical stimulation system for pharyngeal dysfunction(dysphagia) in stroke patients. Pharyngeal muscle group activity is important, because contracting muscles provide the driving force at the initiation of the swallow and generate the pressure gradients necessary for bolus movement into the esophagus. Although we have many treatment methods for dysphagia, electrical stimulation system will be useful for stroke patients having dysphagia. Electrical stimulation can be divided into the body stimulation and electrodes. The body stimulation is divided again into frequency counter, time control and current measurement part. These parts are to control the current intensity, frequency and stimulating time. And they can be variable according to the patient's clinical assessment. The electrode plays a role to deliver the current from the system to the muscle. Also the position of the electrode can be variable according to the treatment method. We performed the clinical experiment with the stroke patient who has swallowing disorder. The videofluoroscopy was used for the observation. From the result of clinical experiment based on electrical stimulation, we expected that the dysfunction(in pharynx) level of the patient can be improved. However we could not have enough effectiveness of the treatment because of the number of patients, patient's adaptation and treatment period. We will design the optimized electrical stimulation system based on enough clinical experiment in the future.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• The Journal of Korean Physical Therapy
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• v.21 no.4
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• pp.51-56
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• 2009

Purpose: This study examined the difference in the static balance ability according to the visual cues and postural tasks in normal subjects. Methods: Thirty participants (12 male, 18 female; mean age $24.63\pm1.43$ years) stood barefoot on a force platform in a one-legged stance, tandem Romberg stance and tandem Romberg with neck extension stance with a visual cue open and closes. The static balance was assessed by the center of pressure (CoP), surface electromyography root mean square (RMS) of the leg muscles according to the stance position. Results: In the CoP tests, the difference in the unit path length and circumference area was affected by the visual cue according to the stance posture (p<0.01). In the RMS tests, the difference in the tibialis anterior and medial gastrocnemius muscle was affected by visual cue in accordance with the stance posture (p<0.01). Conclusion: The visual cue and postural task affect the balance ability in normal subjects. Therefore, this study provides clinical evidence that the balance and postural control can be improved. Therapeutic intervention, such as an obstacle course, and a lower leg muscle performance program with a change in the base of support can affect the balance and postural control.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.417-420
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• 1987

For an increased level of productivity, it is important that the end-point of a robot manipulator moves from an initial location to final position in the minimum time subject to the available maximum actuator's torque (or force) at each joints. The main issue is to develop an algorithm to compute the actuators in real-time. In this paper, a digital state feedback control algorithm has bean developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm have been established using numerical simulations. A three-link manipulator in chosen for this purpose and results are discussed for three different combinations of initial and final station.

• ETRI Journal
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• v.38 no.6
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• pp.1218-1228
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• 2016

This paper proposes a robot hand for a violin-playing robot and introduces a newly developed robot finger. The proposed robot hand acts as the left hand of the violin-playing robot system. The violin fingering plays an important role in determining the tone or sound when the violin is being played. Among the diverse types of violin fingering playing, it is not possible to produce vibrato with simple position control. Therefore, we newly designed a three-axis load cell for force control, which is mounted at the end of the robot finger. Noise is calculated through an analysis of the resistance difference across the strain gauge attached to the proposed three-axis load cell. In order to ensure the stability of the three-axis load cell by analyzing the stress distribution, the strain generated in the load cell is also verified through a finite element analysis. A sound rating quality system previously developed by the authors is used to compare and analyze the sound quality of the fourth-octave C-note played by a human violinist and the proposed robot finger.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3909-3916
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• 1996

Magnetic bearing is the machine element that supports the shaft without mechanical contact using the magnetic force induced by permanent magnet of electromagnet. Active magnetic bearing system is composed of sensor, controller, power amplifier, and electromagnet. If all the elements were dieal, shaft position could be controlled to sensor resolution, Because each elements inreal system have mechanical and electricla losses and nonlinearity, it is impossible to attain the desired performance using general control algorithm. So far it has been studied on improvement of the control algorithm of the electric characteristics of each elements. Another factors to affect shaft behavior are the manufacturing errors due to machine work, and assembling errors due to accumulate manufacturing errors of the radial magnetic bearing. This paper describes that the shaft behavior due to accumulate manufacturing errors and asymmetric bolting. This paper describes that the shaft behavior due to assembling errors of the radial bearings donot affect the rotaitonal accuracy of the shaft. But when the amplitude of the assembling errors increasees over the certain value, the bearing can not support the shaft properly.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.43 no.2
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• pp.39-47
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• 2020

Postural stability can reduce the likelihood of critical slip and fall accidents in workplaces. The present study aimed to analyze the effect of shoes type on the ability of postural control during quiet standing. The effect of workload on the body balance was also of primary concern. Thirteen healthy male undergraduate students participated voluntarily in the experimental study. Standing on a force plate with wearing slippers, sports shoes, or safety shoes, two-axis coordinate on subjects' center of pressures (COP) was obtained in the two levels, rest and workload. For the workload level, subjects performed treadmill exercise to reach the predetermined level of physical workload. By converting the position coordinates of COPs, the postural sway length in both anterior-posterior (AP) axis and medio-lateral (ML) axis was assessed. ANOVA results showed that, in AP direction, wearing slippers significantly increased the postural sway length compared to wearing sports shoes or safety shoes. No significant difference in the mean sway length in AP axis was observed between sports shoes and safety shoes. In ML direction, both the workload and the shoes type did not significantly affect the mean length of postural sway. However, the postural sway length increased marginally with the slippers especially during the workload condition. This study explains wearing slippers may interfere with the ability of postural control during quiet standing. Physical workload decreases the ability of postural stability further.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.6
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• pp.1004-1014
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• 2001

The fully automatic algorithm from initial finite element mesh generation to remeshing in two dimensional geometry is introduced using bubble packing method (BPM) for finite element analysis. BPM determines the node placement by force-balancing configuration of bubbles and the triangular meshes are made by Delaunay triangulation with advancing front concept. In BPM, we suggest two node-search algorithms and the adaptive/recursive bubble controls to search the optimal nodal position. To use the automatically generated mesh information in FEA, the new enhanced bandwidth minimization scheme with high efficiency in CPU time is developed. In the remeshing stage, the mesh refinement is incorporated by the control of bubble size using two parameters. And Superconvergent Patch Recovery (SPR) technique is used for error estimation. To verify the capability of this algorithm, we consider two elasticity problems, one is the bending problem of short cantilever beam and the tension problem of infinite plate with hole. The numerical results indicate that the algorithm by BPM is able to refine the mesh based on a posteriori error and control the mesh size easily by two parameters.