• Korean Journal of Applied Biomechanics
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• v.31 no.2
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• pp.140-147
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• 2021

Objective: The purpose of this study is to identify the mechanism of changes in maximum voluntary torque with the magnitude and duration of pre-activation torque during voluntary isometric knee extension. Method: 11 male subjects (age: 25.91±2.43 yrs., height: 173.12±3.51 cm, weight: 76.45±7.74 kg) participated in this study. The subjects were required to produce maximal voluntary isometric torque with a particular pre-activation torque condition. The properties of pre-activation torque consisted of the combinations of 1) three levels of magnitude, e.g., 32 Nm, 64 Nm, 96 Nm, and 2) two levels of duration, e.g., 1 sec, and 3 sec; thus, a total of six conditions were given to the subjects. The force and EMG data were measured using the force transducers and wireless EMG sensor, respectively. Results: The results showed that the maximum voluntary torque increased the most with relatively large and fast (96 Nm, 1 sec) pre-activation condition. Similarly, with relatively large and fast (96 Nm, 1 sec) preactivation, it was found that the integrated EMG (iEMG) of the agonist muscles increased, while no significant changes in the co-contraction of the antagonist muscles for the knee extension. Also, the effect of pre-activation conditions on the rate of torque development was not statistically significant. Conclusion: The current findings suggest that relatively larger in magnitude and shorter in duration as the properties of pre-activation lead to a larger magnitude of maximal voluntary torque, possibly due to the increased activity of the agonist muscles during knee extension.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.99-105
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• 2004

Internet provides the useful method to monitor the current states of the machine tool no matter where a personnel monitors it. In this paper, a monitoring method of the torque of the machine tool's spindle induction motor using interne is suggested. To estimate the torque accurately, spindle driving system of an CNC lathe is divide into two parts, induction motor part and mechanical part attached to the induction motor spindle. Magnetizing current is calculated from the measured 3 phase currents without speed sensor used to estimate the torque generated by an induction motor. In mechanical part of the system, some of the torque is used to overcome friction and remaining torque is used to overcome cutting force. An equation to estimate friction torque is drawn as a function of cutting torque and rotation speed. Graphical programming is used to implement the suggested algorithm. to monitor the torque of an induction motor in real time and to make the estimated torque monitored on client computers. Torque of the spindle induction motor is well monitored on the client computers in about 3% error range under various cutting conditions.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.318-325
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• 2019

NREX, an upper limb exoskeleton robot, was developed at the National Rehabilitation Center to assist in the upper limb movements of subjects with weak muscular strength and control ability of the upper limbs, such as those with hemiplegia. For the free movement of the shoulder of the existing NREX, three passive joints were added, which improved its wearability. For the flexion/extension movement and internal/external rotation movement of the shoulder of the robot, the ball lock pin is used to fix or rotate the passive joint. The force and torque between a human and a robot were measured and analyzed in a reaching movement for four targets using a six-axis force/torque sensor for 20 able-bodied subjects. The addition of two passive joints to allow the user to rotate the shoulder can confirm that the average force of the upper limb must be 31.6% less and the torque must be 48.9% less to perform the movement related to the axis of rotation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.628-631
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• 1996

This paper proposes a surface recognition algorithm which determines the types of contact surfaces by fusing the information collected by the multisensor system, consisted of the optical tactile and force/torque sensors. Since the image shape measured by the optical tactile sensor system, which is used for determining the surface type, varies depending on the forces provided at the measuring moment, the force information measured by the f/t sensor takes an important role. In this paper, an image contour is represented by the long and short axes and they are fuzzified individually by the membership function formulated by observing the variation of the lengths of the long and short axes depending on the provided force. The fuzzified values of the long and short axes are fused using the average Minkowski's distance. Compared to the case where only the contour information is used, the proposed algorithm has shown about 14% of enhancement in the recognition ratio. Especially, when imposing the optimal force determined by the experiments, the recognition ratio has been measured over 91%.

• Journal of Sensor Science and Technology
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• v.31 no.4
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• pp.260-265
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• 2022

In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and develop a Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data, in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is inserted through an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring-damper system rather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by a spring-damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited in terms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysis results during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparing the FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring-damper feedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of each environment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback were verified.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.974-979
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• 1990

The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.771-780
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• 2010

This paper describes the design process of a six-component force/torque (F/T) sensor. The new six-component F/T sensor having leaf spring ends has been developed using a cross beam structure as the basic sensing element. Fundamental strain analysis of both ends fixed beam having a leaf spring structure is performed by finite element analysis. In order to obtain similar output sensing strains from the six component loads and minimize coupling strains, the optimal location of strain gages is determined and the strain gages are connected so that the bridge circuits with four strain gages would be balanced. Using leaf spring ends instead of rigid fixed ends, remarkable increment in output sensing strain can be achieved for two component forces. Several modifications in design result in a similar sensing strain of approximately $400\;{\mu}m/m$ for the six-component forces and moments, and a reduced coupling strain of $0\;{\mu}m/m$ between the forces and moments.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.