• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.309-318
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• 2003

In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.611-614
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• 1991

In variable speed driving system of three phase induction motor controlled by an inverter, because of the switching of semiconductor devices in inverter, an appreciable amount of harmonic components of voltage waveform can cause the motor to generate losses, torque ripple, acoustic noise and oscillation of semiconductor devices. In this paper a new PAM type PWM inverter using IGBT is described. The output waveforms in the proposed PAM type PWM inverter are investigated both theoretiically and experimentally. The line-voltage waveform is composed of fundamental component and the sidebands of carrier frequency. The lower order harmonics are not included in the output wave form. As each inverter arm does not operate during two-thirds period, the heats, generated in the devices are reduced. That is, the size of the inverter system can he minimized because of the reduction in the heat dissipating equipment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.113-118
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• 2005

Robots today have wider application fields than they ever have before. They need to work close to humans and fluid and compliable motions are expected of them. This requires redundant degrees of freedom for completing specific task. And conventional motion teaching method cannot be applied to redundant link structures. In this paper, the authors present a proficient, cost-effective and intuitive method for motion teaching. New software to apply this method to a humanoid is also presented. This new method utilizes current sensors to determine which joints to rotate. The experiment shown in this paper is a case of closed link where arms cannot move independently due to the restrictions in between the hands. After the input of several passing points of motion trajectory, the curve fitting is performed by the developed software. This software can insert new points, delete erroneous points and modify existing points. The developed motion teaching method is applied to the Kumdo robot, which is developed by the authors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.607-612
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• 2004

Disc brake noise continues to be a major concern throughout the automotive industry despite efforts to reduce its occurrence. Eliminating vibrations during braking is an important task for both vehicle passenger comfort and reducing the overall environmental noise levels. There are several classes of disc brake noise, the major ones being squeal, judder, groan, and moan. In this study, analytical model for moan noise of rear disk brake is investigated. Modeling of the disc brake assembly to take account of the effect of different geometrical and contact parameters is studied through the use of multi-body model. The contact stiffness of the caliper and torque member plays an important role in controlling brake vibration. Therefore, a suitable material pair at the caliper/body contact has been made. An ADAMS model of a rear disc brake system was integrated with a flexible suspension trailng arm from MSC/NASTRAN. A fully non-linear dynamic simulatin of brake system behavior, containing rigid and flexible bodies, was performed for a Prescribed set of operating conditions. Simulation results were validated using data from vehicle experimental testing.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• Journal of Animal Environmental Science
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• v.11 no.1
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• pp.11-16
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• 2005

The round bale wrappers are generally used for rice straw after the harvesting of low land rice by combine harvester. In this situation, the bale wrappers should be well adapted under the travelling over raised borders and temporary ditches in soft soil of narrow rice fields. The study was conducted to improve the performance of bale wrapper through the new design for compact size, lowered gravity center and lowered power consumption. The prototype of round bale wrapper had been designed and assembled to tractor with three point hitch mounted. The machine type is one roll driving system with one roll for rotating and one roll for wrapping. The driving torque and work performance of the machines were measured and analysed. The torque requirement of the prototype and conventional type was 6kgf-m and 12kgf-m, respectively. The prototype shaved less friction resistance between bale driving roll and round bale. and the power requirement can also be reduced from 12kgf-m in the conventional to 6kgf-m in the prototype. The work efficiency of the new bale wrapper was $45\%$ higher than the conventional wrapper, and the working cost of the prototype can be reduced $17\%$ than that of the conventional.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.1
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• pp.109-115
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• 2019

In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

• The korean journal of orthodontics
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• v.37 no.3 s.122
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• pp.171-181
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• 2007

Objective: The present study was aimed at an analytical formulation of the micro-implant related torque as a function of implant size, i.e. the diameter and length, screw size, and the bony resistance at the implant to bone interface. Methods: The resistance at the implant to cancellous bone interface $(S_{can})$ was assumed to be in the range of 1.0-2.5 MPa. Micro-implant model of Absoanchor (Dentos Inc. Daegu, Korea) was used in the course of the analysis. Results: The results showed that the torque was a strong function of diameter, length, and the screw height. As the diameter increased and as the screw size decreased, the torque index decreased. However the strength index was a different function of the implant and bone factors. The whole Absoanchor implant models were within the safe region when the resistance at the implant/cancellous bone $(=S_{can})$ was 1.0 or less. Conclusion: For bone with $S_{can}$ of 1.5 MPa, the cervical diameter should be greater than 1.5 mm if micro-implant models of 12 mm long are to be placed. For $S_{can}$ of 2.0 MPa, micro-implant models of larger cervical diameter than 1.5 mm were found to be safe only if the endosseous length was less than 8 mm.