• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.1008-1020
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• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.6-51
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• 2001

We propose a new compliance control algorithm, which is different from previous compliance control methods in that it employs equal or more actuators than the number of the required compliance elements in operational space. The proposed compliance control algorithm ensures precise force and position control. The validity has been shown both theoretically and experimentally.

• Korean Journal of Adult Nursing
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• v.27 no.3
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• pp.325-336
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• 2015

Purpose: This study was conducted to identify factors influencing compliance of multidrug-resistant organism infection control in intensive care units (ICU) nurses. Methods: Data were collected from 254 ICU nurses who were working at 6 general and advanced general hospitals in D city and G Province. Results: 77.2% and 84.4% of the subjects correctly answered to questions about Methicillin-Resistant Staphylococcus Aureus (MRSA) and Vancomycin-Resistant Enterococcus (VRE), respectively. The scores of MRSA infection control compliance and VRE infection control compliance were 3.41 and 3.43, respectively. The factors influencing MRSA infection control compliance were empowerment, environmental safety recognition, and education satisfaction, which explained 30% of MRSA infection control compliance. The factors significantly related to VRE infection control compliance were empowerment, hospital types, environmental safety recognition, number of education sessions, and neonatal ICU, which explained 37% of VRE infection control compliance. Conclusion: It is necessary to develop efficient educational programs for infection control including educational contents to improve empowerment and environmental safety recognition of nurses. Furthermore, administrative support for those infection control programs is also necessary.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.1
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.211-215
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• 2023

In this paper, the stability and effectiveness of the force control with a 6-axis compliance device are verified by performing comparative experiments with a commercial F/T sensor. The position/force control algorithm based on the Cartesian stiffness of a compliance device is briefly introduced and the design result of a 6-axis compliance device with F/T sensing is presented. The comparative experiments show that the force control using a compliance device is much more stable than that with rigid F/T sensor due to the enough compliance of a compliance device larger than robot positional resolution.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.114-119
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• 2002

The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

• Journal of Korean Biological Nursing Science
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• v.11 no.1
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• pp.42-50
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• 2009

Purpose: The purpose of this study was to identify the influence of Vancomycin-resistant enterococcus (VRE) knowledge and awareness with VRE infection control in compliance with VRE infection control among nurses in intensive care units. Method: Participants (N=154) were recruited in B city from August 2007 to October 2007. Data were analyzed with SPSS PC+. Result: The degree of VRE knowledge of the participants was 12.41 out of the total score, 17; that of awareness with VRE infection control was 3.87 out of the total score, 4; that of compliance with VRE infection control 3.75 out of the perfect score, 4. A significantly positive relationship between awareness of VRE infection control and compliance with VRE infection control has been observed. Awareness with VRE infection control and type of intensive care unitpredicted 21.1% of the variance in compliance with VRE infection control. Conclusion: The study indicated that awareness with VRE infection control has the most important impact on the compliance with VRE infection control for the participants. Based on the finding, a suggestion is made to continue the research on VRE knowledge and nosocomical infection on the subject of nurse and nurse managers who are responsible for infection control in a medical institution.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.805-810
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• 1993

In this paper, we propose a compliance control scheme using a neurofuzzzy compliance model(NFCM). as a new control paradigm for telerobot systems. A NFCM, used as a compliance controller, is composed of a fuzzy compliance model(FCM), a neural network and a low pass filter. The NFCM is trained through a reinforcement learning algorithm, and then, can generate suitable compliant motion for a given task. A series of simulations have been performed to show applicability of the proposed algorithm send it is found that the NFCM can implement suitable compliant motion for a given task through the learning procedure.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.850-855
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• 1991

In this paper, neural network-based compliance control of telerobot is presented, This is a method to learn the compliance of human behavior and control telerobot using learned compliance. The consistency of human behavior is checked using Lipschitz's condition. The neural compliance model is composed of a multi-layered neural network which mimics the compliant notion of the human operator. The effectiveness of proposed scheme ie verified by a simulation study.