• 대한인간공학회지
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• 제35권5호
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• pp.361-370
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• 2016

Objective:The aim of this study is to evaluate contributions of individual finger forces associated with various levels of submaximal voluntary contraction tasks. Background: Although many researches for individual finger force have been conducted, most of the studies mainly focus on the maximal voluntary contraction. However, Information concerning individual finger forces during submaximal voluntary contraction is also very important for developing biomechanical models and for designing hand tools, work equipment, hand prostheses and robotic hands. Due to these reasons, studies on the contribution of individual finger force in submaximal grip force exertions should be fully considered. Method: A total of 60 healthy adults without any musculoskeletal disorders in the upper arms participated in this study. The young group (mean: 23.7 yrs) consisted of 30 healthy adults (15 males and 15 females), and the elderly group (mean: 75.2 yrs) was also composed of 30 participants (15 males and 15 females). A multi-Finger Force Measurement (MFFM) System developed by Kim and Kong (2008) was applied in order to measure total grip strength and individual finger forces. The participants were asked to exert a grip force attempting to minimize the difference between the target force and their exerted force for eight different target forces (5, 15, 25, 35, 45, 55, 65, and 75% MVCs). These target forces based on the maximum voluntary contraction, which were obtained from each participant, were randomly assigned in this study. Results: The contributions of middle and ring fingers to the total grip force represented an increasing trend as the target force level increased. On the other hand, the contributions of index and little fingers showed a decreasing trend as the target force level increased. In particular, Index finger exerted the largest contribution to the total grip force, followed by middle, ring and little fingers in the case of the smallest target force level (5% MVC), whereas middle finger showed the largest contribution, followed by ring, index and little fingers at the largest target force levels (65 and 75% MVCs). Conclusion: Each individual finger showed a different contribution pattern to the grip force exertion. As the target force level increase from 5 to 75% MVC, the contributions of middle and ring fingers showed an increasing trend, whereas the contributions of index and little fingers represented a decreasing trend in this study. Application: The results of this study can be useful information when designing robotic hands, hand tools and work equipment. Such information would be also useful when abnormal hand functions are evaluated.

• Journal of Biosystems Engineering
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• 제35권1호
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• pp.31-36
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• 2010

A small unmanned helicopter was suggested to replace the conventional spray system. Aerial application using an agricultural helicopter helps precise and timely spraying, and reduces labor intensity and environmental pollution. In this research, a rotor system (SW05) was developed and its lift capability was evaluated. Lift force for the dead weight of the helicopter was obtained at the grip pitch angle of $12^{\circ}$. As the pitch angle increased to $14^{\circ}$ and $16^{\circ}$, the payload increased to 176 N and 216 N, respectively. Compared with SW04 airfoil performance in the total lift, the SW05 airfoil showed nearly the same capacity, but the payload of the SW05 was reduced because of the increased dead weight. A rated flight condition was defined as lifting mean payload of 294 N with the grip pitch angles of $16{\sim}17^{\circ}$ at the rotor rotating speed of 850~950 rpm for the adjusted engine power. The fuel consumption would be 4.8~6.0 L/hr, and the air temperature of cooling fan should be kept below $160^{\circ}C$.

• 기술사
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• 제32권1호
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• pp.67-73
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• 1999

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2003년도 춘계학술대회 논문집
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• pp.90-93
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• 2003

This study aims to validate the effectiveness of VE system with an arm-master in the evaluation of virtual prototype. A virtual kitchen with a refrigerator was presented in a CAVE system. Subjects put in and pull out virtual objects by using the arm-master. Twelve subjects participated in six experimental conditions: three types of refrigerator door grips and two reaction forces. After each trial, subjects evaluated a virtual refrigerator in terms of easiness of operation, similarity in force, presence etc. The results show the subjects preferred vertical grip than horizontal grip and light reaction force than heavy one. The VE system with the arm-master will be very helpful in the design evaluation of virtual prototypes.

• 생명과학회지
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• 제19권8호
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• pp.1055-1061
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• 2009

${\alpha}$-amino-3-hydroxy-5-methyl-4-isoxazole propionate (AMPA) 수용체는 중추신경계에 널리 발현하며, 연접부위에서 글루타메이트에 의한 흥분성 신경전달의 역할을 행한다. 이러한 수용체의 조절은 학습과 기억에 관여한다. 본 연구에서는 AMPA receptor subunit glutamate receptor-interacting protein 1 (GRIP1)과 결합하는 단백질로 armadillo family인 p0071/plakophilin-4을 분리하였다. GRIPl 단백질은 p0071/plakophilin-4 단백질의 C-말단과 결합하며, armadillo family 단백질 중 p0071/plakophilin-4 과만 결합한다. 효모 two-hybrid assay에서 GRIPl의 Postsynaptic density-95/Discs large/Zona occludens-1 (PDZ) 영역이 p0071/plakophilin-4 단백질과의 결합에 관여하며, p0071/plakophilin-4 단백질의 C-말단 아미노산인 "S-X-V" 배열이 결합에 필수적이었다. 이러한 결합은 뇌 균질액에서 Glutathione S-transferase (GST) pull-down assay와 공면역침강법으로 확인하였다. 이러한 결과들은 AMPA 수용체가 연접후막에 안정적으로 위치하는 새로운 역할을 시사한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.100.2-100
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• 2002

In this paper we propose a new visual servoing method for door opening with mobile manipulator. We use an eye-to-hand system that stereo camera is mounted on mobile platform, and adopt the position-based method. The previous methods for door opening mostly used eye-in-hand system with mono camera and required predefined knowledge such as radius and position about door grip, which was mainly caused by using mono cam era. This is also a severe constraint for pursuing general-purpose algorithm for door opening. For overcoming such drawback, we use stereo camera and suggest a new method that detect the door grip and estimate its pose from stereo depth information without predefined knowledge. Al...

• 로봇학회논문지
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• 제15권2호
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• pp.107-114
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• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• 생명과학회지
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• 제25권10호
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• pp.1103-1109
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• 2015

뇌 해마의 콜린성 신경분포는 학습과 기역에 연관성이 있는 것으로 알려져 있으며 이의 작용제인 carbachol 투여 시 장기기억 저하가 유도됨이 알려져 왔다. 그러나 이러한 콜린성 자극에 의한 해마 신경세포의 시냅스 내 변화기작은 완전히 알려지지 않고 있다. 본 연구에서는 아세틸콜린 수용체의 활성에 의하여 유도되는 장기기억 저하 현상에 있어 alpha-amino-3-hydroxy-5-methylisoxazole-4-propionate (AMPA) 수용체가 후시냅스 표면으로부터 사라지는 현상과 이의 조절기작에 대하여 알아보고자 한다. 이를 위하여 쥐 해마의 일차세포를 추출하고 체외에서 배양한 성숙 신경세포에 carbachol 을 투여하여 장기기억 저하를 유도 하였으며, 후시냅스의 표면으로부 터 AMPA 수용체의 아단위체인 GluA2가 M1 무스카린 수용체의 길항제에 의하여 저해 되었다. 또한 콜린성 자극 에 의한 GluA2의 내재화 현상의 작용기작 연구를 위하여 쥐 해마 절편에 carbachol 투여 후 GluA2와 직접적인 상호작용을 하는 Glutam내재화 되었음을 확인하였다. 이러한 현상은 ate receptor-interacting protein 1 (GRIP1) 과 clathrine 단백질이 매개하는 세포내이입 작용을 하는 adaptin-α 단백질의 결합 변화를 관찰하였다. GluA2는 carbachol 자극에 의해 세포내이입 과정에서 adaptin-α 와의 결합이 증가하였으며 반대로 GRIP1과는 해리되었다. 이는 아세틸콜린의 수용체의 자극에 의하여 GluA2의 내제화 작용이 수반되며, 이의 작용기작으로 GluA2의 후시 냅스 표면 발현시에 결합하고 있는 GRIP1과 해리 되면서 장기기억 저하 현상이 유도됨을 의미한다.

• 감성과학
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• 제7권1호
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• pp.1-7
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• 2004

본 연구는 CAVE 시스템과 Arm-Master를 이용해 가상 제품의 프로토타이프를 평가할 때 효과가 있을지에 대한 실험적 검증을 하는 것을 목표로 하였다. 이를 위해 CAVE 시스템 상에 가상의 냉장고를 포함한 가상 주방을 모델링하였다. 실험에는 6명의 남자, 6명의 여자 피실험자들이 참여했는데, 3가지 서로 다른 형태의 냉장고 도어 그립과 가상 냉장고 도어를 열고 닫기 위한 힘의 크기 2개에 의한 조합인 6가지 실험조건에 대해 물건을 냉장고에 넣고 꺼내는 작업을 수행하도록 했다. 각 실험이 끝나면 피실험자들은 도어 개폐의 용이성, 도어 조작시의 힘과 실제 힘과의 유사성, 전반적인 현실감에 대한 평가 설문에 응답하도록 했다. 실험 결과 평균치를 기준으로 통계적으로 유의한 차이는 아니나 수직형의 도어 그립이 개폐용이성 등에서 상대적으로 좋은 평가를 받았다. 또한 힘의 크기에 있어서 피실험자들은 5N을 15N에 비해 좋은 평가를 하였다. 그러나 예상 외로 성별 간에 통계적으로 유의한 차이가 나타났는데, 이는 여자들의 경우 Arm-Master를 조작하는 데 더 큰 어려움을 겪었기 때문으로 풀이된다. 앞으로도 기술적 측면에서 Arm-Master가 더욱 개선되어야만 디자인 평가 과정에 효과적으로 사용될 수 있을 것으로 생각된다.

• 전기학회논문지
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• 제66권9호
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• pp.1431-1436
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• 2017

The high-speed railway of catenary system, supplies a stable electric power supply to the train by satisfying the special conditions between pantograph and trolley wire, which operates more than 250km/h mutually sliding and feeding electric lines. According to Korean Railway Standard KRS PW 0026-13 (R), the standard for the grip strength of the dropper clamp in conventional line is established, but the high-speed railway line is not yet. When the grip strength of the dropper clamp is detached from the catenary line of the high-speed railway line, various problems may occur, such as damage to the pantograph due to the collision and arcing. In this paper, it is expected to be used as a basic data for establishing the durability criteria of the high-speed railway dropper clamp by verifying the dropper clamp on the Gyeong-bu and Honam high-speed line.