• 로봇학회논문지
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• 제15권2호
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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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• 제37권4호
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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.

• 로봇학회논문지
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• 제14권3호
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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.

• 한국지반공학회논문집
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• 제25권10호
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• pp.5-15
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• 2009

본 논문에서는 옥천 및 창녕지역에서 총 24회 수행한 암반앵커 현장인발시험의 결과를 나타내었다. 시험앵커의 정착깊이는 1~6m로 서로다른 암반내에 설치하였다. 앵커의 대부분은 고강도 이형철근인 SD40-D51mm를 사용함으로써 다른 파괴가 일어나기 전에 암반파괴가 먼저 일어나도록 유도하여 암반의 인발저항력을 파악하고자 하였으며, 일부에서는 SD40-D32mm앵커를 설치하여 앵커의 파괴도 아울러 살펴보았다. 많은 시험에서 파괴는 항복에 이르는 극한하중까지 관찰할 수 있었으며, 암반파괴형상은 암반이 들어올려지면서 방사상으로 균열이 발달하는 형태를 나타내었다. 또한 시멘트그라우트와 텐던사이의 부착강도를 평가하고자 방식쉬이스가 설치된 앵커에 대해 실내실험을 실시하였다. 실험결과 텐던-그라우트 사이의 부착강도는 그라우트 일축압축강도의 18~25%로 나타났으며, 방식쉬이스에 의한 부착력 감소는 무시할 수 있을 정도로 작게 나타났다.

• 한국지반공학회논문집
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• 제24권10호
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• pp.147-160
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• 2008

본 논문에서는 국내 몇몇 시험현장에서 수행한 총 54회 단일앵커시험과 4회 실규모 앵커기초에 대한 결과를 제시하였다. 시험결과, 암반앵커의 인발에 대한 파괴메커니즘은 암종 및 암질, 근입깊이, 불연속면의 특성, 텐던의 강도 등에 영향을 받는 것으로 나타났다. 불량한 암반내 얕은 앵커의 경우(정착심도 1.0m 이하) 대부분 그라우트-암반 부착파괴로 나타났으나 이러한 경우에도 깊이를 증가시키면 암반파괴를 유도할 수 있다. 반면에, 얕은 앵커기초라 하더라도 암반상태가 좋으면 부착파괴가 아닌 암반파괴의 형태를 보인다. 한편 실내부착강도 시험결과는 표면부터 진행성파괴가 나타나며 점차 아래로 전파된다. 이때 측정된 텐던-그라우트 부착강도는 그라우트 일축압축강도의 약 $18{\sim}25%$로 나타났으며, 방식 쉬이스로 인한 부착강도의 감소는 보이지 않았다. 연구결과로부터 암반앵커시스템의 인발지지력을 지배하는 주요 파라메터를 결정하고 적용 암반의 분류기준을 제시하였으며, 최종적으로 인발에 대한 암반앵커기초의 지지력을 평가할 수 있는 간편화된 절차를 제안하였다.