• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.34 no.6
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• pp.401-415
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• 2021

Soft robots are promising devices for applications in drug delivery, sensing, and manufacturing. Traditional hard robotics are manufactured with rigid materials and their degrees of motion are constrained by the orientation of the joints. In contrast to rigid counterpart, soft robotics, employing soft and stretchable materials that easily deforms in shape, can realize complex motions (i.e., locomotion, swimming, and grappling) with a simple structure, and easily adapt to dynamic environment. Among them, the magnetic actuators exhibit unique characteristics such as rapid and accurate motion control, biocompatibility, and facile remote controllability, which make them promising candidates for the next-generation soft robots. Especially, the magnetic actuators instantly response to the stimuli, and show no-hysteresis during the recovery process, essential for continuous motion control. Here, we present the state-of-the-art fabrication process of magnetically controllable nano-/micro-composites, magnetically aligning process of the composites, and 1-dimensional/multi-dimensional multimodal motion control for the nextgeneration soft actuators.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.429-434
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• 2007

This paper presents an experimental and parametric study of a biomimetic fish robot actuated by the Lightweight Piezo-composite Actuator(LIPCA). The biomimetic aspects in this work are the oscillating tail beat motion and shape of caudal fin. Caudal fins that resemble fins of BCF(Body and Caudal fin) mode fish were made in order to perform parametric study concerning the effect of caudal fin characteristics on thrust production at an operating frequency range. The observed caudal fin characteristics are the shape, area, and aspect ratio. It was found that a high aspect ratio caudal fin contributes to high swimming speed. The fish robot was propelled by artificial caudal fins shaped after thunniform-fish and mackerel caudal fins, which have relatively high aspect ratio, produced swimming speed as high as 2.364 cm/s and 2.519 cm/s, respectively, for 300 Vpp input voltage excited at 0.9 Hz. Thrust performance of the biomimetic fish robot was examined by Strouhal number, Froude number, Reynolds number, and Net forward force.

• Journal of the Korean Society of Visualization
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• v.12 no.2
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• pp.18-22
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• 2014

Caenorhabditis elegans (C. elegans) is an undulatory nematode which exhibits two distinct locomotion types of swimming and crawling. Although in its natural habitat C. elegans lives in a non-Newtonian fluidic environment, our current understanding has been limited to the behavior of C. elegans in a simple Newtonian fluid. Here, we present some experimental results on the penetrating behavior of C. elegans at the interface from liquid to solid environment. Once C. elegans, which otherwise swims freely in a liquid, makes a contact to the solid gel boundary, it begins to penetrate vertically to the surface by changing its stroke motion characterized by a stiffer body shape and a slow stroke frequency. The particle image velocimetry (PIV) analysis reveals the flow streamlines produced by the stroke of worm. For the worm that crawls on a solid surface, we utilize a technique of traction force microscopy (TFM) to find that the crawling nematode forms localized force islands along the body where makes direct contacts to the gel surface.

• Journal of Korean Public Health Nursing
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• v.14 no.1
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• pp.122-130
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• 2000

This study was designed to investigate the effects of an aquatic exercise program on the physical function and depression among the community elderly. The subjects were 41 cases of aged over 65 who went to elderly college in Hawsung-Kun, Kyeongkee province. Seventeen of them were assigned to control group, while twenty four subjects to the experimental group. The period of data collection was from June., 1999 to November., 1999. The aquatic exercise program was developed by the author with the assistance of rehabilitation medicine doctor and physical therapist in the public health center. The program was carried out once a week for 6 months in regular swimming pool. Data were analyzed with t-test, $X^2$ test, ANCOVA. paired t-test using SAS 6.12. Results were obtained as follows: 1. The increments in the range of motion of the shoulder and knee joints in experimental group after exercise was significantly greater than those in the control group. 2. The physical pain score decreases significantly after the exercise in the experimental group only. 3. The experimental group revealed lower level of depression after exercise than the level before the exercise, whereas control group showed no significant changes in this level. These findings may indicate that the aquatic exercise program is effective in increasing the range of motion of shoulder and knee joints and also effective in decreasing pain, the level of depression. Accordingly. the aquatic exercise program can be adopted as an health promotion program for community elderly.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.294-298
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• 2008

The ionic polymer-metal composite actuators with selectively grown multiple electrodes were developed to mimic the swimming locomotion of a fish. The developed method is based on combining electroplating with the electroless chemical reduction using the patterned mask. The advantages of this fabrication method are that the initial compositing between the polymer and platinum particles can be assured by the chemical reduction method, and the thickness of each electrode can be controlled easily and rapidly by electroplating. By using the fabricated actuator with a multiple degree of freedom, the oscillatory wave of the flexible membrane actuator was generated and a twisting motion was also realized to verify the possibility of mimicking the fish-like locomotion. The frequency response function was analyzed to investigate the natural frequency and the damping factor by a mechanical shaker and direct electrical excitation through the swept-sine method. Present results show that this novel method can be a promising technique to easily pattern each of multiple electrodes and to implement the biomimetic motion of the polymer actuators with good mechanical bending performance.

• Journal of Korean Orthopaedic Sports Medicine
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• v.2 no.1
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• pp.56-61
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• 2003

This is a review article about range of motion, stretching, and aerobic exercise in accelerated rehabilitation of knee and shoulder. If the joint was immobilized for a long time after injury, it would cause stiffness and atrophy. Therefore, this program includes various exercise techniques; range of motion for joint stiffness, and stretching for muscle relaxation, and cardiovascular training (e.g., swimming, upper body extremity, stationary bicycle) for prevention of cardiopulmonary function decrease. In accelerated rehabilitation, It is very important factor to make interaction between clinical exercise specialist and patients. Also, we recommend that they should discuss with sports medicine doctor as a team members the following; pain, adaptation of exercise, fitness level, and progression of program.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.225-231
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• 2014

Fish generates thrust with a compliant fin which is known to increase the efficiency. In this paper, the performance of a robotic dolphin, the velocity and the stability, was improved using an optimal compliant caudal fin under certain oscillating frequency. Optimal compliance of the caudal fin exists that maximizes the thrust at a certain oscillating frequency. Four different compliant fins were used to find the optimal compliance of the caudal fin at a certain frequency using the half-pi phase delay condition. The swimming results show that the optimal compliant fin increases the velocity of the robotic fish. The compliance of the caudal fin was also shown to improve the stability of the robotic fish. A reactive motion at the head of the robotic dolphin causes fluctuation of the caudal fin. This phenomenon increases with the oscillating frequency. However, compliant fin reduced this fluctuation and increased the stability.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.870-875
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• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• Journal of Ship and Ocean Technology
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• v.11 no.1
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• pp.1-10
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• 2007

This study introduces the development of robot fish ROFI 1.1. Today, robot fish is one of strong candidates for next-generation UUV. The present paper describes the design, manufacturing, and operation tests of the robot fish developed at Seoul National University. The very first robot fish in Korea, ROFI 1.1 is operated by a wireless remote controller. Its overall length is 680mm, and weight is 8.8kg. The fore body contains main mechanical and electrical systems and is covered by a FRP skin. The aft body has a mechanical bone system that mimics fish bones, and its skin is made of flexible silicon sponge to allow elastic motion for propulsion. It is found that this mechanical system creates effective and realistic fish-like swimming mode. It is observed that the normal and maximum advancing speeds of ROFI 1.1 are about 1 and 2 m/sec, and the turning radius is between $0.7{\sim}2.5m$, depending on the turning mechanism.

• 한국체육학회지인문사회과학편
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• v.53 no.2
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• pp.531-540
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• 2014

The purpose of this study was to investigate the differences between two inflatable kayak by recording performance related variables during the kayak forward stroke motion. A total of 5 elite high school kayak players were recruited to participate while their kinematics and muscle activations were recorded while performing inside their high school swimming pool. Boat velocity, boats swaying angle, the average angular velocity and were used to evaluate the boats performance. The player's trunk rotational range of motion, knee flexion-extension angle range of motion, maximum trunk rotation angle, the knee flexion-extension angular velocity, and the upper and lower limb muscle activations were calculated and analyzed for the player's efficiency evaluation. There were no significantly different variables for the player's kinematics and their muscle activations for the two conditions. The B kayak was significantly faster than the A kaya. In addition there were no significant differences between the remaining variables for the two kayaks. In conclusion, the B kayak was faster than the A kayak, but neither of the kayaks had an influence on the player's performance variables.