• The Journal of Korean Physical Therapy
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• 제12권2호
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• pp.95-105
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• 2000

Glenohumeral internal and external rotation with shoulder abducted in the frontal plane often causes impingement of the supraspinatus tendon. whereas similar activity in scapular plane does not cause impingement. The Purpose of this study was to determine if assessment among the three positions as 30 degrees, 60 degrees, 90 degrees abduction in the sitting position of the scapular plane could be affected the comparison between intemal and external peak torque, total work, average power. In this study, Isokinetic shoulder rotational strength was evaluated in twenty healthy male university students, using the Cybex NORMTM System (CYBEX Division of LUMEX, Inc., Ronkonkoma, New York). Test data was gathered in the plane of the scapular, 30 degrees of horizontal flexion anterior to coronal plane, and the subjects performed the test with the arm 30, 60, and 90degrees abducted in the sitting position. also, test speed was set at deg/sec. Statistical analysis was performed using SPSS 7.5 for Windows software and mean and standard deviations were calculated. ANOVA was used to analyze the difference of the values in the three test positions. A paired t-test was used of examining the difference in the means peak torque between external and internal rotation. Not any significant difference was found among three abduction positions in scapular plane, even though there was a consistent pattern of greater strength in the abducted position of 60 degrees. Internal relation strength peak torque and total work were greater than those of external rotation in every test positions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.247-250
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• 1996

In this paper, we have examined the impedance characteristics of a tipper link of human being in a positioning motion. Firstly, we have shown the characteristics of the human arm using a bilinear model. From the bilinear model, we have observed that both the driving torque of the forearm and the visco-elasticity of the elbow joint can be controlled by muscles, respectively. Then, we have defined several indexes to show the impedance characteristics. Using the proposed indexes, we have examined the impedance characteristics in the positioning operation. As a result, we can not observe the difference of the impedance characteristics, even if the ease of the positioning motion is varied.

• 융복합기술연구소 논문집
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• 제1권2호
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• pp.16-24
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• 2011

The angular electrostatic microactuator using skewed electrode array (SEA) scheme was proposed. The moving and fixed electrodes are arranged to make the driving force perpendicular to the rotating moment of arm. By changing the electrode overlap length, the magnitude of electrostatic force and stable displacement will be changed. In order to optimize the design, electrostatic FE analysis were carried out and the empirical force model was established for SEA. Simulation was performed to make the comparison between conventional actuators and SEA. The proposed SEA generates actuating torque 2 times greater than a comb-drive and stable actuator displacement 40% greater than a parallel plate type actuator. The angular electrostatic microactuator using skewed SEA scheme was designed and fabricated using SoG process.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집C
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• pp.580-585
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• 2001

A response surface method(RSM) is utilized for structural optimization and implemented on a parametric CAD platform. Once an approximation of the performance function is made, no formal design sensitivity analysis is necessary. The approximation gives the designer the sensitivity information and furthermore intuition on the performance functions. The scheme for the design of experiment chosen for the RSM has a large influence on the accuracy of converged solutions and the amount of computation. The D-optimal design criterion as implemented in this paper is found efficient for the structural optimization. The program is developed on a parametric CAD platform and tested using several shape design problems of such as a torque arm and a belt clip. It is observed that the RSM used provides a faster convergence than other approximation methods for design sensitivity.

• 대한기계학회논문집
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• 제15권2호
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• pp.515-522
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• 1991

Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.

• 한국정밀공학회지
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• 제10권3호
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1831_1832
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• 2009

본 논문에서는 유연관절 로봇 팔 제어를 위한 토크센서 기반의 외란에 강인한 제어기 설계를 다루고 있다. 로봇은 관절의 토크센서를 통해 관절에서 발생하는 토크의 측정이 가능하며 외란에 강인한 제어기 설계를 위해 외란 관측기가 적용 되었다. 외란관측기는 시스템에 작용하고 있는 외란을 상쇄하는 역할을 한다. 본 논문에서 설계된 제어기의 성능은 컴퓨터 모의실험을 통하여 확인하도록 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.218-222
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• 1993

A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2007년도 춘계학술대회 논문집
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• pp.295-299
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• 2007

Biped robot requires that an energy source and a control part should be installed on the body to realize active system. So, we choose the DC motor having high torque in compact size in this study. In the DC motor serve system, we choose power amplifier with analog configuration, developed the module combined the controller and the driver. We applied this module to robot actuator and studied the response characteristics in an action and a return. Main controller with serve system, loading PIC micro controller, can be load on the robot with light weight.

• 한국자기학회지
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• 제1권1호
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• pp.30-36
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• 1991

전기용량법에 의한 자기이방성 측정장치를 설계 제작하였다. 균이자기장 속에서 원판 또는 구형의 시료가 자기이방성에 의해 받는 토오크를 평행판 축전기의 미소용량 변화로 변환하여, 그것을 변압기 부리지 로 검출하였다. 3% Si-Fe 단결정의(100)면에 대한 입방 이방성 $K_{1}$은 $3.3{\times}10^{4}\;J/m^{3}$가 얻어졌으며, 교정에는 Ni선의 형상이방성을 이용하였다. 기타 수종의 시료에 대한 결과도 기존치와 좋은 일치를 보였다.