• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

• 대한의용생체공학회:의공학회지
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• 제30권3호
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• pp.205-212
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• 2009

This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.

• Journal of Korean Neurosurgical Society
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• 제63권3호
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• pp.342-345
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• 2020

Some types of spinal dysraphism can be accompanied by extraspinal cysts, including myelomeningocele, myelocystocele, myelocele, meningocele, limited dorsal myeloschisis, lipomyelomeningocele, and terminal myelocystocele. Each disease is classified according to the developmental mechanism, embryologic process, site of occurrence, or internal structure of the extraspinal cyst. In most cystic spinal dysraphisms except meningocele, part of the spinal cord is attached to the cyst dome. Most open spinal dysraphisms pose a risk of infection and require urgent surgical intervention, but when the cyst is accompanied by closed spinal dysraphism, the timing of surgery may vary. However, if the extraspinal cyst grows, it aggravates tethering by pulling the tip of the cord, which is attached to the dome of the cyst. This causes neurological deficits, so urgent surgery is required to release the tethered cord.

• 음성과학
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• 제1권
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• pp.261-274
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• 1997

In spite of the presumed importance of the strap muscles on laryngeal valving and speech production, there is little research concerning the physiological role and the functional differences among the strap muscles. Generally, the strap muscles have been shown to cause a decrease in the fundamental frequency(Fo) of phonation during contraction. In this study, an in vivo canine laryngeal model was used to show the effects of strap muscles on the laryngeal function by measuring the Fo, subglottal pressure, vocal intensity, vocal fold length, cricothyroid distance, and vertical laryngeal movement. Results demonstrated that the contraction of sternohyoid and sternothyroid muscles corresponded to a rise in subglottal pressure, shortened cricothyroid distance, lengthened vocal fold, and raised Fo and vocal intensity. The thyrohyoid muscle corresponded to lowered subglottal pressure, widened cricothyroid distance, shortened vocal fold, and lowered Fo and vocal intensity. It was postulated that the mechanism of altering Fa and other variables after stimulation of the strap muscles is due to the effects of laryngotracheal pulling, upward or downward, and laryngotracheal forward bending, by the external forces during strap muscle contraction.

• 로봇학회논문지
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• 제8권2호
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.

• 한국산학기술학회논문지
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• 제19권12호
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• pp.47-53
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• 2018

산업용으로 다양한 형태의 로봇팔이 사용되고 있으며, 특히, 다품종 소량생산으로 생산방식의 변화가 이루어지면서 산업현장에서 다양하게 사용이 가능한 그리퍼에 대한 중요성이 높아지고 있다. 이러한 중요성에 기반을 두어 본 연구진은 기존에 연성재질의 비선형성을 이용하여 강성을 변화시킬 수 있는 가변강성 메커니즘 그리퍼를 연구하였다. 시제품을 제작하고 실험을 통해 강성의 변화와 그 유용성을 확인하였다. 그러나 세 개의 가변강성 메커니즘을 배치하여 그리퍼를 설계 및 제작함으로써 물체를 파지하는 상황에 따라 파지를 제대로 하지 못하는 현상이 발생하였다. 또한, 그리퍼 간의 균형이 맞지 않아 물체 파지 시에 파지할 물체가 회전하면서 미끄러지는 경우가 드물게 발생하는 문제가 있었다. 이러한 문제점을 보완하기 위하여 새로운 형태의 그리퍼가 필요하게 되었다. 새로운 형태의 그리퍼를 설계하기 위하여 생체모사기술을 적용하였다. 사람의 손바닥과 파리지옥의 움직임을 통해 영감을 얻어 새롭게 가변강성 소프트 로봇 핸드를 설계하였다. 손바닥이 접히는 메커니즘을 가변강성 그리퍼에 장착된 텐던을 당기는 것과 연동하여 파지 성능을 높일 수 있었다. 가변강성 메커니즘에 파리지옥과 손바닥 형태의 메커니즘을 결합하여 파지 안전성을 높인 소프트 로봇 핸드는 기존의 가변강성 메커니즘 그리퍼보다 다양한 형태와 무게를 가진 물체를 안정적으로 파지하였다.

• 한국지반공학회지:지반
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• 제12권3호
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• pp.35-48
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• 1996

보강토구조물은 흙과 보강재 사이에 큰 변형이 발생하며 보강토구조물의 파괴양상도 보강재의 미끄러짐이나 변형에 의해 지배되며, 때때로 보강재의 재료의 파괴보다는 미끄러짐에 의해 보강토구조물이 파괴되므로 큰변형이 발생하는 흙-보강재의 모델링이 필요하다. 고형 및 액체폐기물 매립장에 쓰이는 라인너 시스템은 매립장의 경사와 쓰레기하중에 의해 큰 변형이 발생하게 된다. 이러한 큰 변형의 문제는 기존의 접촉요소로써 모델링하는데 많은 제약 이 따른다. 본 논문에서는 이러한 흙과 토목섬유보강사이의 큰 만행을 모델링할 수 있는 접촉은소를 제안하였으며, 그 이론과 그 모델의 적용성에 대하여 논하였다.

• 대한한의학원전학회지
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• 제30권2호
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• pp.31-43
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• 2017

Objectives : Written by Yoongdongri in the 18th century Chosun, Chochangkyeul is a book that specially deals in Ungi. Yoon understood a person's body constitution by taking into factor the person's birth year, and used this information to determine his Ungi type, and understood his disease mechanism. Methods : Following the study on the first part of Chochangkyeul, named Ungiyeonron, the paper tries to study the book's second part, called Yongyakgwon. The book's core messages are summarized upon a thorough inspection. Results & Conclusions : Yoondongri was a highly-acclaimed doctor in the 18th century Chosun, and also an Ungi practitioner who utilized the theory of Ungi in his clinical practices. His practices were mainly based on the prescription of Ungi found in Chenwuze's Sanyinfang, coupled with almost all parts of Donguibogam's Husebang. He had an extensive clinical experience which helped him describe his methods of quickly responding to the side effects that sometimes occur due to misuse of medicine. Such detailed descriptions are never found in past medical books, which gives Yoon's book a great level of historical importance. Yongyakgwon divides the scripts between Gabsin, Muui, Byungye, Gyungjeong, and Yimgi in accordance with the theory of Ounhabgi, and also introduces treatments based on Yukisachun. Jangbupasuyak also introduces about six external organs and six internal organs with relation to treating wind medicine, treating heat medicine, treating cold medicine, treating dry dampness medicine, dryness-moistening medicine, pulling meridian medicine. All of these can be applied to patients easily.

• 한국지반공학회논문집
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• 제28권1호
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• pp.55-66
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• 2012

본 논문에서는 쏘일네일링 공법, 앵커 공법, 또한 이 두공법의 장점을 결합한 하이브리드 공법의 하중전이 메커니즘에 대한 연구를 수행하였다. 하이브리드 공법은 철근과 PC강연선을 보강재로 하며, 프리스트레스를 가함으로써 능동적인 주면마찰력 양상을 유도하고자 한다. 본 논문에서는 주면마찰력 산정 이론과 하중전이 이론을 바탕으로 각 공법의 하중전이 메커니즘을 파악하였다. 또한 현장인발시험을 실시하여 측정된 계측결과의 분석 및 하중전이 이론과의 비교 검토를 통해서 하이브리드 공법의 하중전이 메커니즘을 규명하였다. 쏘일네일링 공법은 인발거동 시 전면에서부터 선단으로 인장력이 전이되는 양상을 보이는 반면, 앵커 공법은 내하체가 위치한 선단에서 프리스트레스를 가함에 따라 선단에서 전면으로 압축력이 전이된다. 이 두 공법을 결합시킨 하이브리드 공법은 프리스트레스를 가할 때에는 앵커공법과 같이 선단에서 압축력이 발생하지만 동시인발 시에는 선단에서는 압축력이 전면에서는 인장력이 발생하게 된다. 따라서 하이브리드 공법의 하중전이 메커니즘은 쏘일네일링의 거동과 앵커의 거동이 모두 나타난다.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2010년도 제39회 하계학술대회 초록집
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• pp.63-63
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• 2010

Using both experimental and theoretical approaches, we have investigated the adsorption properties of an organic molecule (HATCN), which is used in OLEDs as an efficient hole injection layer, on metal and inert surfaces. We have also studied the structural and electronic properties of such interfaces and the dependences on deposition thickness. We have observed different trends in work function changes with different surfaces. Our photoelectron spectroscopic measurements have revealed an abnormal phenomenon in HATCN on a metal (Cu) surface: the work function decreases at lower coverage (~monolayer) of HATCN on a metal (Cu) surface, but it increases back and becomes higher than that of a bare Cu surface at higher coverage. It has, on the contrary, been observed that the work function of graphene surface just increases as the HATCN coverage increases. Our first-principles density functional calculations has not only verified our experimental observations, but also disclosed the underlying mechanism of such abnormal and different work function behaviors. We have found that the change in work function results from mutual polarization induced by the geometrical deformation and the bond dipole formed at the interface due to the charge redistribution. At low coverage of HAT-CN on Cu substrate, the former reduces the work function significantly by pulling down the vacuum level, while the latter tends to push up the vacuum level resulting in the work function increase.