• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.8
• /
• pp.801-806
• /
• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• Journal of the Ergonomics Society of Korea
• /
• v.28 no.3
• /
• pp.33-39
• /
• 2009

Impact force to a body during walking depends on walking speed, walking steps, the condition of the floors and shoes, and weight. The ground reaction force and the foot pressure can be measured instantaneous force easily, but it's difficult to find out the amount of transferring forces to the body. On the other hand, the acceleration has an advantage for analyzing the amount of transferring forces. However, most of studies about impact forces to the ground reaction during exercise have been limited to analyze instantaneous forces. The important thing is to evaluate characters and the amount of the impact force rather than the magnitude. Therefore, this study analyze the impact force using 3 axis acceleration in three dimensions (x; anterior-posterior, y; left-right and z; longitudinal axis) using three axis acceleration. As working speed increased, impact forces increased significantly. Impact forces on x axis and z axis are higher at lower limb than that of upper limb. However, impact force at the knee is higher than that of other parts on y axis regardless of walking speed significantly. In addition, relations of the impact forces as interaction of experiment factors as well as effect of each factor are analyzed.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.11
• /
• pp.39-45
• /
• 1998

Gas springs have been widely used in motor vehicles as well as in most areas of industry. Instead of coil springs, these gas springs are easily opreated to open(extension process) or close (compression process) the doors because $N_2$ gas with high pressure and oil are charged in tube. Most of manufacturers are using the trial ＆ error method in order to decide its specification(reaction force, damping force), which tends to waste time and money. Therefore, gas springs have been improved by properly changing the control pressure of $N_2$ Gas with its mounting location and weight to maximize its effect and to minimize its space. Although it has been researched on damping structure to minimize impact which is applied to vehicle when its back door is fully opened, the characteristics of damping structure are not known clearly. There(ore, this paper will not only clearly define the effect of important factors(open ＆ close force)for gas springs through theoretical analysis but also provide optimum design specification through development of program to avoid traditional method of specification determination such as the trail It error method which is widely used in whole industries including automotive industry.

• Korean Journal of Applied Biomechanics
• /
• v.19 no.2
• /
• pp.379-386
• /
• 2009

During running, the human body experiences repeated impact force between the foot and the ground. The impact force is highly associated with injury of the lower extremity, comfort and running performance. Therefore, shoemakers have developed shoes with various midsole properties to prevent the injury of lower extremity, improve the comfort and enhance the running performance. The purpose of this study is to investigate the influence of midsole hardness on vertical ground force and heel strike angle during men's and women's running. Five male and five female expert runners consented to participate in the study and ran at a constant speed with three different pairs of shoes with soft, medium and hard midsole respectively. In conclusion, regardless of gender, there was ill significant difference among three shoes in maximum vertical ground reaction force, impact force peak and stance time. However, the loading time decreased and the loading rate increased as the midsole became harder. Female subjects showed more sensitive reaction with respect to the midsole hardness, while male subjects showed subtle difference. The authors expect to apply this results for providing a guideline for utilizing proper midsole hardness of gender-specific shoe.

• Korean Journal of Applied Biomechanics
• /
• v.15 no.1
• /
• pp.259-274
• /
• 2005

The purpose of this study was to compare the kinematic and kinetic parameters of lower extremity joints between novice and experienced sports aerobic dancers during two heights of depth jumps. Four male dancers were participated in this study and they performed 40cm and 60cm height depth jump three times, respectively. Four ProReflex MCU cameras (100frame/sec) and a Kistler force plate (1000Hz) were used for data collection. The results indicated that the duration of contact phase of experienced group was shorter than that of novice group regardless of jump height. For minimum angle of hip, knee, and ankle joints, the novice group had tendency to decrease the angle but the experienced group had increased the joint angle with jump height. There was no difference of total ground reaction force between the groups but the reaction force had tendency to increase with jump height. Thus, this study implied that repetition of jump and landing may induce joint related injury and further study such as. EMG analysis of lower extremity can be needed to verify the relationship between injury and ground reaction force.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.11
• /
• pp.1332-1340
• /
• 2009

The front end wheel loader is widely used for the loading of materials in mining and construction fields. It has repetitive digging, loading and dumping procedures. The bucket is subjected to large resistance force from the soil during scooping. We considered the soil reaction force characteristics from scooping procedure, the protection by overload and automatic scooping mode algorithm. The main topic of this paper is the analysis of the soil reaction force characteristics. The analysis of soil mechanics is carried out and the developed soil model is verified by experimental results from the simplified experimental equipment. A simplified model of the soil shape and bucket trajectory is used to determine the scooping direction based on an estimation of the resistance force applied on the bucket during the scooping motion. In the future, this model will be used for the generation of an appropriate path for the wheel loader automation.

• PNF and Movement
• /
• v.5 no.1
• /
• pp.49-56
• /
• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• Structural Engineering and Mechanics
• /
• v.54 no.4
• /
• pp.793-807
• /
• 2015

Constructing the influence lines of forces of statically indeterminate structures is a traditional issue in structural engineering and mechanics. However, the existing kinematic method for establishing these force influence lines is an indirect or mixed approach by combining the force method with the theorem of reciprocal displacements, which is yet inconsistent with the kinematic method for statically determinate structure. This paper proposes the direct kinematic method in conjunction with the load-displacement differential relation for exactly constructing influence lines of reaction and internal forces of indeterminate structures. Firstly, through applying the principle of virtual displacement, the formula for influence lines of reaction and internal forces of indeterminate structure via direct kinematic method is derived based on the released structure. Then, a computational approach with a clear concept and unified procedure as well as wide applicability based on the load-displacement differential relation of beam is suggested to achieve conveniently the closed-form expression of force influence lines, and exactly draw them. Finally, three representative examples for constructing force influence lines of statically indeterminate beams and frame illustrate the superiority of the proposed method.

• Korean Journal of Applied Biomechanics
• /
• v.13 no.2
• /
• pp.161-173
• /
• 2003

This study was performed to investigate the kinematic and kinetic differences between functional walking shoe(FWS) and general sports shoe(GSS). The subjects for this study were 4 male adults who had the walking pattern of rearfoot strike with normal feet. The movement of one lower leg was measured using force platform and 3 video cameras while the subjects walked at the velocity of 2/1.5 m/s. The findings of this study were as follows 1. The angle of lower leg-ground and angle of knee with FWS was greater than with GSS at the moment of strike the floor and the moment of second peak ground reaction force. The decreasing rate of angle of ankle was smaller in FWS from the strike phase to the second peak ground reaction force. These mean upright walking and round walking along the shoe surface. 2. The maximal Increased angle of Achilles tendon and the minimal decreased angle of rearfoot were smaller in FWS very significantly(p<0.001). Thus FWS prevent the excessive pronation of ankle and have good of rear-foot control. 3. The vortical ground reaction force and the rate of it to the BW were smaller in FWS statistically(p<0.001). The loading rate was smaller in FWS, too, and thess represent the reduction of load on ankle joint and prevention of injuries on it.

• Journal of International Academy of Physical Therapy Research
• /
• v.10 no.1
• /
• pp.1706-1710
• /
• 2019

Background: Despite frequent shoulder injuries of rotator cuff muscle of golfers by the result of overuse and poor swing mechanics, there is little research on shoulder specific rehabilitation exercises for injured rotator cuff muscle and golf swing Objective: To examined the effect of rehabilitation exercise for golfers on the X factor and ground reaction force (GRF) according to phase of the golf swing. Design: Crossover study Methods: The participants were 13 amateur golfers selected for a 4 week rehabilitation exercise for golfers. A rehabilitation exercise for golfers consisting of 5 steps and 4 items (sleeper stretch, full side plank, push up to plank, high plank knee unders) were applied to all participants. A three dimensional motion analyzer and force platform (SMART-E, BTS, Italy) were used to measure the X factor (angle between shoulder and pelvis at top of back swing) and GRF according to phase of the golf swing. All dependent variables were measured before and after exercise. The collected data was analyzed using the paired t test and SPSS 21.0. Results: The GRF had a statistically significant increase in the impact phase and ratio impact/weight after rehabilitation exercise for golfers (p<.05). The X-factor, GRF in top of back swing and finish were no significant differences between before and after exercise (p>.05). Conclusions: These results suggested that rehabilitation exercise for golfers was effective for increasing GRF in the impact phase and ratio impact/weight for amateur golfer.