• 한국소음진동공학회논문집
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• 제23권1호
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• pp.41-48
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• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 추계학술대회 논문집
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• pp.421-427
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• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• Journal of Periodontal and Implant Science
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• 제33권4호
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• pp.651-671
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• 2003

The influence of calcium phosphate (Ca-P) coating on the bone response of titanium implants was investigated two types of titanium implants, i.e. as -machined ,as -machined with Ca-P coating, were prepared. The Ca-P coating produced by OCT Inc technique. These implants were inserted into the left and right femur of beagle dog, After implantation periods of 3 days, 1weeks, weeks, 4weeks, 8weeks, 12weeks. 24weeks, the bone-implant interface was evaluated histologically, histomorphometrically , and removal torque. Histological evaluation revealed no new bone formation around different implant materials after 2weeks of implantation. After 4 weeks, Ca-P coated implants showed a higher amount of bone contact than either of the non coated implants. After 12weeks, bone healing was almost completed. And implant were removed by reverse torque rotation with torque-measuring device. Mean torque values for 4weeks control were 2.375Kgf.cm and experimental were 2.725Kgf.cm. And mean torque values for 8weeks control were 1.25Kgf.cm and experimental were 1.0Kgf.cm On the basis of these findings, we concluded that deposition of a Ca-P coating on an implant has a beneficial effect on the bone response to this implant during the healing phase. Besides implant surface conditions the bone response is also determined by local implant site condition.

• Journal of Yeungnam Medical Science
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• 제36권1호
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• pp.43-49
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• 2019

Background: In the osseointegration of dental implants, the implant surface properties have been reported to be some of the most important critical factors. The effect of implant's surfaces created by resorbable blast media (RBM) followed by laser ablation on bone tissue reactions was examined using the removal torque test and histomorphometric analysis. Methods: Two types of dental implants, RBM-laser implants (experimental group) and RBM implants (control group) (CSM implant system, Daegu, Korea; L=6 mm, diameter=3.75 mm) were placed into the right and left distal femoral metaphysis of 17 adult rabbits. Six weeks after placement, removal torque was measured and histomorphometric analysis was performed. Results: The mean removal torque was $24.0{\pm}10.2Ncm$ and $46.6{\pm}16.4Ncm$ for the control and test specimens, respectively. The experimental RBM-laser implants had significantly higher removal torque values than the control RBM implants (p=0.013). The mean values of total and cortical bone to implant contact (BIC) were respectively $46.3{\pm}10.8%$ and $65.3{\pm}12.5%$ for the experimental group, and $41.9{\pm}18.5%$ and $57.6{\pm}10.6%$ for the control group. The experimental RBM-laser implants showed a higher degree of total and cortical BIC compared with RBM implants, but there was no statistical significance (p=0.482, 0.225). Conclusion: The removal torque and BIC of the test group were higher than those of the control group. In this study, the surface treatment created by RBM treatment followed by laser ablation appears to have a potential in improving bone tissue reactions of dental implants.

• 한국운동역학회지
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• 제21권3호
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• pp.369-382
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• 2011

The purpose of this study was to verify the validation of exercise effect with loading deviation during rowing exercise. We performed evaluation of based physical fitness and joint torque before the experiment for finding muscle unbalance. So we recruited twenty four subjects who have bigger muscle strength in more 20% than average one. Subjects divided two groups. One is dominant upper limbs(DU) and the other was dominant lower limbs(DL). Subjects performed rowing exercise using electric equipment (Robo.gym.Humonic.korea). Exercise is performed four sets a day including 25 times a set, and three days a week. Measurement consist of evaluation of based physical fitness and joint torque using biodex(biodex system3.USA). Evaluation of exercise effect performed each week in joint torque of shoulder, lumbar and knee joint and each month in based physical fitness. Also we adapted 30% of 1RM for muscular endurance and 70% of 1RM for muscle strength as exercise load. The results showed that the difference of maximal peak torque were getting increase significantly during exercise. Also difference of various factor in based physical fitness were getting increase significantly except flexibility and agility. This interpreted that rowing exercise with loading deviation types could provide muscle strength and muscular endurance exercise in same time. These results could be interpret to two ways. One is effect of improving physical fitness for rowing exercise and the other meaned validation of loading deviation in rowing exercise. Our study is going to verify the validation of loading deviation during rowing and we found out that loading deviation could provide muscle strength and muscular endurance exercise for improving muscle unbalance. Our study can be used development of exercise equipment and program for normal people with muscle unbalance. Also that provide effect of whole body exercise to anybody.

• 한국자기학회지
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• 제26권3호
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• pp.86-91
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• 2016

BLDC 전동기의 코깅토크는 영구자석과 철심의 상호작용에 의해 발생하고 소음과 진동을 발생시키는 요인이다. 제조 과정에서 조립 공차로 인해 영구자석이 회전자 철심 면에 제대로 붙지 않을 경우 BLDC 전동기의 전자기적 구조가 변할 수 있다. 본 논문에서는 조립 공차로 인해 자석이 회전자 표면과 분리되었을 때 코깅토크에 미치는 영향에 대해 연구했다. 핵심적인 설계 요소들인 회전자와 자석 간 분리, 분리를 가진 자석 수, 이웃한 자석들 간의 여러 배치형태를 고려했다. 코깅토크 해석을 위해 유한요소법을 사용하였고, 소음진동을 발생시키지 않는 조립 공차를 제안했다. 제안된 조립 공차로 제작된 BLDC 전동기의 코깅토크는 감소되었고 소음진동 또한 줄어들 것이라고 판단된다.

• The Journal of Advanced Prosthodontics
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• 제8권6호
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• pp.465-471
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• 2016

PURPOSE. The purpose of this study is to evaluate the stability of interface between Co-Cr-Mo (CCM) UCLA abutment and external hex implant. MATERIALS AND METHODS. Sixteen external hex implant fixtures were assigned to two groups (CCM and Gold group) and were embedded in molds using clear acrylic resin. Screw-retained prostheses were constructed using CCM UCLA abutment and Gold UCLA abutment. The external implant fixture and screw-retained prostheses were connected using abutment screws. After the abutments were tightened to 30 Ncm torque, 5 kg thermocyclic functional loading was applied by chewing simulator. A target of $1.0{\times}10^6$cycles was applied. After cyclic loading, removal torque values were recorded using a driving torque tester, and the interface between implant fixture and abutment was evaluated by scanning electronic microscope (SEM). The means and standard deviations (SD) between the CCM and Gold groups were analyzed with independent t-test at the significance level of 0.05. RESULTS. Fractures of crowns, abutments, abutment screws, and fixtures and loosening of abutment screws were not observed after thermocyclic loading. There were no statistically significant differences at the recorded removal torque values between CCM and Gold groups (P>.05). SEM analysis revealed that remarkable wear patterns were observed at the abutment interface only for Gold UCLA abutments. Those patterns were not observed for other specimens. CONCLUSION. Within the limit of this study, CCM UCLA abutment has no statistically significant difference in the stability of interface with external hex implant, compared with Gold UCLA abutment.

• 한국구조물진단유지관리공학회 논문집
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• 제15권6호
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• pp.127-134
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• 2011

고력볼트 길이-직경비가 5d 이상인 경우, 시험을 통한 결과를 활용하여 현장에서 볼트 체결을 하도록 권고하고 있을뿐 길이-직경비에 따른 별도의 규정 및 지침은 없다. 국내에서는 고력볼트 체결법으로 너트회전법이 아닌 토크관리법이 적용하고 있고 최근에는 KS B 2819의 '구조물용 토크-전단형 고장력 볼트'(이하, TS 고력볼트)가 주로 사용되고 있기 때문에 길이 인자에 따른 규정이 국외 기준에 비해 미비한 것이 현실이다. 따라서, 본 논문에서는 TS 고력볼트의 길이인자에 따른 적정 축력 도입을 위한 소요 너트회전각 및 토크를 분석하여 길이변수에 따른 특성을 평가하고자 한다. 실험결과의 분석에서는 통계분석 프로그램 Minitab을 활용하여 길이변수에 대한 유효성을 정량적으로 분석했다.

• 한국산업융합학회 논문집
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• 제26권4_2호
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• pp.623-628
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• 2023

The purpose of this study was to evaluate the fracture strength and removal torque value (RTV) of a conventional angled abutment and a newly developed angled abutment (Beauty up abutment) with an angulated screw access hole. Each abutment was divided into a control group and an experimental group (n = 20, respectively). To measure the fracture strength, the abutment was connected to the internal hex implant with 30 Ncm torque, and a load was applied at 30 degree angle with cross-head speed of 1 mm/min using a universal testing machine according to the ISO 14801:2016 standard. To measure RTV, each abutment was fastened to the implant with 30 Ncm torque. Retightening was performed after 10 minutes, and initial RTV was measured with a digital torque gauge. After retightening, a load of 250 N was applied to the abutment at a 30 degree angle using a chewing simulator. After a total of 100,000 repeated loads, RTV was measured. Statistical analysis was performed using Wilcoxon signed rank test and Mann-Whitney U test (α = .05). The fracture strength of the experimental group was statistically significantly lower than that of the control group (P = .009). There was no significant difference between initial RTV and post-loading RTV between the experimental group and the control group (P = .753, P = .527, respectively), and cyclic loading did not significantly affect RTV in both groups (P = .078).

• 한국정밀공학회지
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• 제26권4호
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• pp.39-46
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• 2009