• 한국운동역학회지
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• 제28권1호
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• pp.61-67
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• 2018

Objective: The human body is often modelled as a spring-mass system. Lower extremity stiffness has been considered to be one of key factor in the performance enhancement of running, jumping, and hopping involved sports activities. There are several different classification of lower extremity stiffness consisting of vertical stiffness, leg stiffness, joint stiffness, as well as muscle and tendon stiffness. The primary purpose of this paper was to review the literature and describe different stiffness models and discuss applications of stiffness models while engaging in sports activities. In addition, this paper provided a current update of the lower extremity literature as it investigates the relationships between lower extremity stiffness and both functional performance and injury. Summary: Because various methods for measuring lower extremity stiffness are existing, measurements should always be accompanied by a detailed description including type of stiffness, testing method and calculation method. Moreover, investigator should be cautious when comparing lower extremity stiffness from different methods. Some evidence highlights that optimal degree of lower extremity stiffness is required for successful athletic performance. However, the actual magnitude of stiffness required to optimize performance is relatively unexplored. Direct relationship between lower extremity stiffness and lower extremity injuries has not clearly been established yet. Overall, high stiffness is potentially associate risk factors of lower extremity injuries although some of the evidence is controversial. Prospective injures studies are necessary to confirm this relationship. Moreover, further biomechanical and physiological investigation is needed to identify the optimal regulation of the lower limb stiffness behavior and its impact on athletic performance and lower limb injuries.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• 한국소음진동공학회논문집
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• 제16권9호
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• pp.919-925
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• 2006

An accurate mathematical model for complex stiffness of the pneumatic spring would be necessary for an efficient design of a pneumatic spring used in vibration isolation tables for precision instruments such as optical devices or nano-scale equipments. A diaphragm, often employed for prevention of air leakage, plays a significant role of complex stiffness element as well as the pressurized air itself Therefore, effects of the diaphragm need to be included in the dynamic model for a more faithful description of dynamic behavior of pneumatic spring. But the complex stiffness of diaphragm is difficult to predict In an analytical way, since it is a rubber membrane of complicated shape in itself. Moreover, the diaphragm should be expandable in response to pressurization inside a chamber, which makes direct measurement of complex stiffness of diaphragm extremely difficult. In our earlier research, the complex stiffness of diaphragm was indirectly measured, which was just to eliminate the theoretical stiffness of pressurized air from the measured complex stiffness of the pneumatic spring. In order to reflect complex stiffness of inflated diaphragm on the total stiffness at the initial design or design improvement stage, however. it is required to be able to predict beforehand. In this paper, how to predict the complex stiffness of inflated rubber diaphragm by commercial FE codes (e.g. ABAQUS) will be discussed and the results will be compared with the indirectly measured values.

• 대한기계학회논문집
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• 제18권4호
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• pp.846-855
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• 1994

An effective stiffness, analogous to that of a wound spring, can be created by antagonistic redundant actuation of general closed-chain mechanisms. The qualitative and quantitative characteristics of the effective stiffness are investigated through a Four-bar mechanism, and a load distribution method is introduced which simultaneously guarantees the required system motion and the effective stiffness of the Four-bar mechanism. Furthermore, a simulation is performed to understand the inter-relationship among the effective stiffness, the Four-bar geometry, and the actuation effort. Based on this analysis, the Four-bar synthesis problem for effective stiffness generation is discussed.

• 대한의용생체공학회:의공학회지
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• 제45권2호
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• pp.57-65
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• 2024

Recently, several studies have been conducted to lower the cost of transport of human by adding external joint stiffness elements. However, it has not been clearly elucidated whether adaptation time is required for human subjects to adapt to the added external joint stiffness. In this study, carbon plates in the form of shoe midsoles were added to the metatarsophalangeal joint, and the lower limb joint torque and mechanical energy consumption were compared before and after a total of 5 sessions (2.5 weeks) of running. A total of 11 young healthy participants exhibited higher elastic energy storage in carbon plates in the fifth session compared to the first session, and lower power in the ankle joint. This suggests that a single training session may be insufficient to validate the efficiency effect of added joint stiffness, and the human body seems to increase the elastic energy stored in the assistive joint stiffness and its reutilization.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.844-849
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• 2006

Accurate modeling of complex dynamic stiffness of the pneumatic springs is crucial for an efficient design of vibration isolation tables for precision instruments such as optical devices or nano-technology equipments. Besides pressurized air itself, diaphragm made of rubber materials, essentially employed for prevention of air leakage, plays a significant contribution to the total complex stiffness. Therefore, effects of the diaphragm should be taken care of precisely. The complex stiffness of an inflated diaphragm is difficult to predict or measure, since it is always working together with the pressurized air. In our earlier research, the complex stiffness of a diaphragm was indirectly estimated simply by subtracting stiffness of the pressurized air from measurement of the total complex stiffness for a single chamber pneumatic spring. In order to reflect dynamic stiffness of inflated diaphragm on the total stiffness at the initial design or design improvement stage, however, it is required to be able to predict beforehand. In this presentation, how to predict the complex stiffness of inflated rubber diaphragm by commercial FE codes(e.g. ABAQUS) will be discussed and the results will be compared with the indirectly measured values.

• 한국강구조학회 논문집
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• 제28권1호
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• pp.43-52
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• 2016

본 연구에서는 판 형상의 수평보강재가 한쪽에만 설치되는 통상적인 보강 웨브에서 수평보강재의 필요 강성에 대한 해석적 연구를 수행하였다. 실제 교량용 플레이트 거더는 대부분 비대칭 단면이지만 제작성을 감안하여 수평보강재를 통상 웨브 높이의 1/5인 0.2D 부근에 설치하고 있다. 이러한 점을 감안하여 보강재가 0.16D~0.24D 범위에 설치되는 조건에 대해 단면의 비대칭성과 웨브의 형상비를 고려하여 수평보강재의 강성비(${\gamma}^*$)에 따른 고유치 해석을 수행하고 좌굴강도를 평가하였다. 이로부터 AASHTO LRFD 기준의 좌굴강도를 만족하는 수평보강재의 필요 강성을 제안하였다.

• International Journal of Precision Engineering and Manufacturing
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• 제7권4호
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• pp.34-39
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• 2006

High-precision centerless grinding machines are emerging as a means of finishing the outer diameter grinding process required for ferrules, which are widely used as fiber optic connectors. In this study, a structural characteristic analysis and evaluation were carried out using a virtual prototype of a centerless grinding machine to realize systematic design technology and performance improvements required to manufacture ferrules. The prototype consisted of a concrete-filled bed, hydrostatic grinding wheel (GW) and regulating wheel (RW) spindle systems, a hydrostatic RW feed mechanism, a RW swivel mechanism, and on-machine GW and RW dressers. The loop stiffness values of the centerless grinding machine were estimated based on the relative displacements between the GW and RW caused by grinding forces. The simulated results illustrated that a concrete-filled bed considerably improved the structural stiffness and accuracy of a high-precision centerless grinding machine.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.333-338
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• 2009

This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.

• 한국지반공학회논문집
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• 제35권12호
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• pp.35-44
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• 2019

본 연구에서는 수직증축 공동주택 하부 신설 보강말뚝의 축강성(K_vr)을 기존말뚝의 열화를 고려한 이론적인 접근과 수치해석을 통하여 산정하였다. 3차원 유한요소 수치해석을 수행하는 과정에서, 이론적인 접근과 38본의 시험 말뚝계측 결과를 통하여 제안된 열화를 고려한 기존말뚝 축강성(K_ve)의 상한 값을 적용하였다. 이를 통해, 수직증축 리모델링으로 인하여 증가된 하중을 안정적으로 지지하기 위한 신설 보강말뚝의 최소 축강성을 산정하였다. 신설 보강말뚝의 축강성 제안은 선단지지 말뚝과 마찰말뚝에 대해 수행하였고, 다양한 세장비(L/D)에 따라 제안하였다. 해석기법은 기존말뚝의 설계 당시의 양호한 상태를 고려한 말뚝지지 전면기초 거동 해석과 열화가 고려된 기존말뚝의 축강성을 적용한 말뚝지지 전면기초 거동 해석을 수행하였다. 두 해석기법에 대한 검증을 수행한 결과 말뚝지지 전면기초 거동해석이 가능한 것으로 확인되었고, 이를 통하여 기존말뚝의 열화가 발생하였을 때 선단지지 신설 보강말뚝 축강성이 44 - 67% 증가되어야 수직증축 구조물의 안정성이 확보됨을 알 수 있었다.