• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.595-599
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• 1989

A new simple method for controlling compliant motions of a flexible robot arm is presented. The method aims at controlling translational tip motion, force and moment by directly computing the base motion or torque. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the hybrid translational position/force control of a flexible robot arm.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• Proceedings of the ESK Conference
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• 1997.04a
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• pp.281-285
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• 1997

We developed the system which could trace the hand and arm motion to test the product usability by integrating a wired-glove and a magnetic position sensing system. The magnetic position sensing system traces the position and orientation of the arm while the sired-glove measures 18 phal angeal joint angles. A case study was performed on two different camcorders in weight. The heavier camcorder was more stable than the lighter one. Also the recording task is more stable than the zoom-in and zoom-out tasks. This system could be used to monitor and quantify the hand and arm motion in real time and also could be used to test the product usability where the hand motion is important.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.5-161
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• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• IE interfaces
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• v.17 no.2
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• pp.218-225
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• 2004

This study aims to investigate effect of external load and motion repetitiveness on perceived discomfort. An experiment was performed for measuring discomfort scores at varying conditions, in which external load, motion repetitiveness and arm posture were employed as experimental variables. The arm posture was controlled by shoulder flexion and abduction, and by elbow flexion. Fifteen healthy college-age students without history of musculoskeletal disorders voluntarily participated in the experiment. The results showed that the effect of external load, motion repetitiveness and shoulder posture on discomfort were statistically significant, but that elbow posture did not significantly affect discomfort ratings. The effect of external load was much larger than that of any other variables, and that of repetitiveness was second only to external load. Discomfort scores significantly increased linearly as the levels of external load and motion repetitiveness increased. This implies that although they were not fully reflected in the existing posture classification scheme such as OWAS, RULA, etc., the effect of external load and motion repetitiveness should be taken into consideration for precisely quantifying work load in industry. Based on regression analysis, equivalent values of external load and motion repetitiveness in terms of discomfort scores were provided, which would be useful for better understanding the degree of their effect on work load.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.39-50
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• 2003

The purpose of this experiment was to find out the stages of result of specific character for Horse Vaulting Yeo motion To put the Yeo movement in process, we needed a gymnastics athlete C height of 165cm, weight of 62kg, age of 32, personal history of 21 years, and tested the athlete 5 times of motion training, and picked out the 2 best motion and analyzed it. Athletic reason is vertical motion, time uses, horizontal motion, distance, speed, and analyzed many other reasons as a result, and finally ended up with this conclusion. 1. After the take off on the board horizontal speed gradually decreased However, reverse of that, it showed that vertical speed increased. 2. While contacting the Horse Vaulting, horizontal speed decreased and vertical speed kept on increasing. Taking off Com the Horse Vaulting, horizontal, showing short time of training, 3m vertical height is shown after using Yeo motion at the peak of second fly jump. 3. While contacting the Horse Vaulting, both arms were showing the flection shape Especially this is also while contacting the Horse Vaulting, left arm was showing $90^{\circ}$ angle, and this has happened between the process of transition period of fast horizontal speed to vertical speed. 4. While contacting the Horse Vaulting, perfect blocking of the left arm must be complete for the right arm to have the perfect blocking as well.

• Physical Therapy Korea
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• v.26 no.4
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• pp.53-62
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• 2019

Background: Shoulder function is achieved by the coordinated movements of the scapula, humerus, and thoracic spine, and shoulder disorders can be associated with altered scapular kinematics. The trunk plays an important role as the kinematic chain during arm elevation. Objects: The purpose of this study was to determine the effects of thoracic hyperkyphosis on scapular orientation and trunk motion. Methods: Thirty-one subjects (15 in the ideal thorax group and 16 in the thoracic hyperkyphosis group) performed right-arm abduction and adduction movements in an unconstrained plane. The scapular orientation and trunk motion were recorded using a motion analysis system. Results: Those subjects with thoracic hyperkyphosis displayed greater scapular posterior tilting at a $120^{\circ}$ shoulder elevation, greater scapular internal rotation throughout the arm raising phase, and greater trunk axial rotation at the upper ranges of the shoulder elevation, compared to those subjects with an ideal thorax (p<.05). Conclusion: Thoracic hyperkyphosis can cause scapular instability, greater trunk rotation and greater scapular posterior tilting, and may contribute to preventing the achievement of a full range of humeral abductions in an unconstrained plane.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.89-96
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• 2019

Objective: The purpose of this study was to investigate biomechanical comparisons of kettlebell two-arm swings after different somatosensory interventions on joint ranges of motion (ROM) and muscle activations. Method: Fourteen kettelbell novices (age: $22.92{\pm}3.23yrs$, mass: $75.75{\pm}9.94kg$, height: $172.03{\pm}5.49cm$), consisting of male college students, participated in this study and performed two-arm kettlebell swings in different conditions. Three different somatosensory interventions were the applications of heavy mass kettlebell (20 kg), taping on gluteus muscles, and unstable mat condition. All subjects performed pre-intervention swings and post-intervention swings, respectively. Statistical analysis were performed on results of joint kinematics and electromyographies of major muscles. Results: Results showed significant increases in ROM of hip and decreases in ROM of shoulder after unstable mat trials. In addition, the application of unstable mat during kettlebell swings induced higher muscle activations in gluteus maximus muscle during only upward phase of two-arm kettlebell swings. Conclusion: For beginner, the application of unstable surface would increase in hip joint ranges of motion with enhancement of gluteus muscles.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.