• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.190-196
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• 2020

Mechanical systems using tendon-driven actuators have been widely used for bionic robot arms because not only the tendon based actuating system enables the design of robot arm to be very efficient, but also the system is very similar to the mechanism of the human body's operation. The tendon-driven actuator, however, has a drawback caused by the friction force of the sheath. Controlling the system without considering the friction force between the sheath and the tendon could result in a failure to achieve the desired dynamic behaviors. In this study, a mathematical model was introduced to determine the friction force that is changed according to the geometrical pathway of the tendon-sheath, and the model parameters for the friction model were estimated by analyzing the data obtained from dedicated tests designed for evaluating the friction forces. Based on the results, it is possible to appropriately predict the friction force by using the information on the pathway of the tendon.

• Archives of Plastic Surgery
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• v.37 no.4
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• pp.329-334
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• 2010

Purpose: Adhesion after flexor tendon injury is a result of fibrosis between tendon and tendon sheath. This, finally interfere with gliding mechanism of tendon and results in functional problem of hands. Therefore, there have been many trials to reduce adhesion around the tendon. However, there is no standard procedure clinically practiced in hospitals. Mitomycin-C is an antineoplastic alkylating agent that decrease fibroblast proliferation and scar formation. It is commonly used in many surgery to reduce postoperative adhesion. This study was designed to observe the effect of Mitomycin-C on preventing adhesion in injured flexor tendon. Methods: The deep flexor tendon of digit 2 and 4 in the left forepaw of 15 New Zealand White rabbits were subjected to partial tenotomy. In study group, injury site was exposed to a single 5-minute application of Mitomycin-C, and in control group was left untreated. Digit 2 and 4 in the right forepaw of each rabbit were considered as nonadhesion control group. After 2 weeks, the animals were sacrificed and digits were amputated for biomechanical test and histological study. Results: In biomechanical study to measure yield point, mean yield point of non-adhesion control was $17.43{\pm}2.33$ and $25.07{\pm}4.03$ for adhesion control, which proves increase of adhesion in adhesion control group (p<0.05) in 95% confidence. In Mitomycin-C group, mean yield point was $12.71{\pm}4.97$. Compared with adhesion control, there was decrease in adhesiveness in Mitomycin-C group (p<0.05) in 95% confidence. In histological study, the result of adhesion control revealed massive adhesions of bony structure, fibrotic tissue and tendon structure with ablation of the border. However in Mitomycin-C group, we could find increased fibrotic tissue, but adhesion is much lesser than adhesion group and borders between structures remain intact. Conclusion: This study suggests that Mitomycin-C can significantly reduce adhesion of injured flexor tendon in rabbit model.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.221-227
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• 2019

This paper studies an effect of vibration on twisted string actuation inside conduit at high curvature angles. In our previous work. we have mentioned that twisted string actuators can be used to transmit power even at significant curvature angles of the conduit. However, several undesirable effects, namely pull-back, hysteresis, and chattering, were present during actuation due to friction between strings and the internal sheath of the conduit. This paper reports the results of experimental study on effects of vibration on twisted string actuation inside curved conduits. We have demonstrated that applying vibration generated near natural frequency of the system during the stages of twisting and untwisting cycles helped reduce pull-back and hysteresis and increase string contraction. In case when sheath was deflected by $180^{\circ}$ under a constant load of 3 kg, we were able to achieve over 40% decrease in pull-back and 30% decrease in hysteresis, compared with no vibration case.

• Journal of the Korean Geotechnical Society
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• v.25 no.10
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• pp.5-15
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• 2009

This paper presents the results of full-scale uplift load tests performed on 24 passive anchors grouted to various lengths at Okchun and Changnyong site. Rock anchors were installed over a wide range of rock types and qualities with a fixed anchored depth of 1~6 m. The majority of installations used D51 mm high grade steel rebar to induce rock failure prior to rod failure. However, a few installations included the use of D32 mm rebar at relatively deeper anchored depth so as to induce rod failure. In many tests, rock failure was reached and the ultimate loads were recorded along with observations of the shape and extent of the failure surface. In addition to field tests, laboratory pullout tests were conducted to determine bond strength and bond stress-shear slip relation at the tendon/grout interface when a corrosion protection sheath is installed in the cement-based grout. The test results show that the ultimate tendon-grout bond strength is measured from 18~25% of unconfined compressive strength of grout. One of the important results from these tests is that the measured strains along the corrosion protection sheath were so small that practically the reduction of bond strength by the presence of sheath would be negligible.

• Journal of the Korean Geotechnical Society
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• v.24 no.10
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• pp.147-160
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• 2008

This paper presents the results of full-scale loading tests performed on 54 passive anchors and 4 group anchored footings grouted to various lengths at several sites in Korea. The test results, the failure mechanisms as well as uplift capacities of rock anchors depend mostly on rock type and quality, embedded fixed length, properties of the discontinuities, and the strength of rebar. Anchors in poor quality rocks generally fail along the grout/rock interfaces when their depths are very shallow (a fixed length of less than 1 m). However, even in such poor rocks, we can induce a more favorable mode of rock pull-up failure by increasing the fixed length of the anchors. On the other hand, anchors in good quality rocks show rock pull-up failures with high uplift resistance even when they are embedded at a shallow depth. Laboratory test results revealed that a form of progressive failure usually occurs starting near the upper surface of the grout, and then progresses downward. The ultimate tendon-grout bond strength was measured from $18{\sim}25%$ of unconfined compressive strength of grout. One of the important findings from these tests is that the measured strains along the corrosion protection sheath were so small that practically the reduction of bond strength by the presence of sheath would be negligible. Based on test results, the main parameters governing the uplift capacity of the rock anchor system were determined. By evaluation of the ultimate uplift capacity of anchor foundations in a wide range of in situ rock masses, rock classification suitable for a transmission tower foundation was developed. Finally, a very simple and economical design procedure is proposed for rock anchor foundations subjected to uplift tensile loads.