• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.125-132
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• 2008

This paper describes a mobile inspection robot with an automatic pipe tracking system for a feeder pipe inspection in a PHWR. The robot is composed of two inch worm mechanisms. One is for a longitudinal motion along a pipe, and the other is for a rotational motion in a circumferential direction to access all of the outer surfaces of a pipe. The proposed mechanism has a stable gripping capability and is easy to install. An automatic pipe tracking system is proposed based on machine vision techniques to make the mobile robot follow an exact outer circumference of a curved feeder pipe as closely as possible, which is one of the requirements of a thickness measurement system for a feeder pipe. The proposed sensing technique is analyzed to attain its feasibility and to develop a calibration method for an accurate measurement. A mobile robot and control system are developed, and the automatic pipe tracking system is tested in a mockup of a feeder pipe.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.1
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• pp.66-70
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• 2001

This paper describes the design of a two-axis force sensor for robots finger. In detects the x-direction force Fx and y-direction force Fy simultaneously. In order to safely grasp an unknown object using the robots fingers, they should detect the force or gripping direction and the force of gravity direction, and perform the force control using the forces detected. Therefore, the robots hand should be made by the robots finger with tow-axis force sensor that can detect the x-direction force and y-direction force si-multaneously. Thus, in this paper, the two-axis force sensor for robots finger is designed using several parallel-plate beams. The equations to calculate the strain of the beams according to the force in order to design the sensing element of the force sensor are derived and these equations are used to design the aize of two-axis force sensor sensing element. The reliability of the derive equa-tions is verified buy performing a finite element analysis of the sensing element. The strain obtained through this process is compared to that obtained through the theory analysis and a characteristics test of the fabricated sensor. It reveals that the rated strains calculated from the derive equations make a good agreement with the results from the Finite Element Method analysis and from the character-istic test.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.2
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• pp.276-281
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• 2014

In this research, we describe a force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human. To aim to build automatic vacuum system robotic force control was gripping the grinding tool, the present study we examined the adaptability to the polishing process to understand the characteristics of the control system feedback signal obtained from the force sensor mainly. Furthermore, as a field, which holds the key to the commercialization, I went ahead with the application to robotic sweeping machine. As a result, the final sweeping utilizing a robot machine to obtain a very good grinded surface was revealed.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.6 s.111
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• pp.602-608
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• 2006

In order to evaluate performance of anti-vibration gloves, it is necessary to measure the transmitted vibration to the hand and the applied forces at the same time while gripping the vibrating handle. In the study a system was developed to measure both the vibration and the forces. The system consists of a measurement handle with eight strain gauges and two accelerometers and a PC-based system with a software for signal processing and evaluation of the hand-transmitted vibration and for control of applied forces in the pre-determined range. The handle was installed on the vibration shaker which is strong enough so as not to be affected by dynamic coupling with the hand-arm system. Whole procedure of ISO 10819 to determine the vibration transmissibility of anti-vibration gloves was programmed into the system. As an example of the application, three subjects joined the test to get vibration transmissibilities of anti-vibration gloves where each glove was tested twice a subject. Average and standard deviation of vibration transmissibility were also calculated.

• Journal of International Academy of Physical Therapy Research
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• v.4 no.1
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• pp.532-538
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• 2013

The purpose of this study is to analyze the grip strength by the girth of upper arm and forearm and their muscle activities by duration of grip strength. The subjects were consisted of 20 healthy adults(10 males & 10 females) who had no medical history of neurological and surgical problems with their arms. Girth of upper arm/ forearm and maximum grip strength for 4sec and 30sec were measured. Muscle activity was by wireless electrode EMG system. Co-relation of girth of upper arm/ forearm was significantly high. Upper arm's muscle activity performed for 4sec and 30sec was significantly high. In this study. It suggests that training of upper arm should be performed with the training of grip strength because both of upper arm and forearm affected grip strength.

• Journal of Biosystems Engineering
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• v.33 no.6
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• pp.453-461
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• 2008

This study was conducted to develop a root-removed splice grafting system for cucurbitaceous vegetables, mainly watermelon and cucumber seedlings, for the seedlings factories where currently most of seedlings grafting works are carried out by manual works. The major results of the study are as follows. The dimensions of rootstocks and scions, except cotyledon width, of root- removed splice grafting of watermelon and cucumber were shown to be varied within the 2.5-fold range. The growth status of seedlings were not consistent in terms of cotyledon sprouting direction and angle which were considered as one of the important factors for in root-removed splice grafting. The grafting work of root-removed splice for grafted watermelon and cucumber could be divided by four sub-operations: seedling supplying, cutting, clipping and potting, while a part or all root of the rootstock was removed in the seedlings supplying operation. The cutting angles of the rootstock and scion were $34-45^{\circ}$ and $20-45^{\circ}$, respectively, while the stem length of the scion varied from 6 mm to 12 mm. The splices of rootstock and scion were heaped up in parallel and then fixed by a clip. It indicated that the ideal grafting system, adopting conventional grafting processes of seedlings specifications as well as conventionally manual root-removed splice grafting method, performed very well for seedlings gripping and transporting, supplying clip, clipping and discharging grafted seedlings while workers supplied seedlings to the semi-automatical system.

• Physical Therapy Korea
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• v.20 no.2
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• pp.28-37
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• 2013

This study examined differences in the activity of upper limb muscles according to how an ultrasound head is gripped. Twenty-two adult males were participated in the study. Each participant was asked to apply ultrasound treatment on to a lump of pork meat by two different ultrasound head grip patterns: spherical and cylindrical grips. Muscle activity was measured in the extensor carpi radialis longus (ECRL), flexor carpi ulnaris (FCU), and pronator teres (PT), triceps brachii (TB), middle deltoid (MD), and upper trapezius (UT) muscles. There were no significant differences in the EMG signals of any muscle according to the ultrasound head grip pattern (p>.05). There were significant differences in the EMG signal of each type of muscle (p<.05). The EMG signal of UT was the lowest and that of TB was lower than ECRL and FCU. There were interactions between ECRL and FCU, between ECRL and PT, between FCU and ECRL, and between FCU and MD. The EMG signal of ECRL using the cylindrical head was low and that of FCU with the cylindrical head was high, while the opposite was the case with the spherical head ($p_{adj}$ <.05/15). The results of this study indicate that the wrist muscles worked actively when the participants applied ultrasound therapy using both spherical and cylindrical heads. A spherical head might induce imbalanced muscle activity among the wrist muscles, leading to deviation of the wrist joint. Therefore, the cylindrical head is recommended for ultrasound therapy because it produced a constant, repeated force.

• Physical Therapy Rehabilitation Science
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• v.5 no.2
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• pp.95-100
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• 2016

Objective: The purpose of this study was to investigate effects of hand grip strength on the muscle activation of shoulder joint in breast cancer patients. Design: Cross-sectional study. Methods: Ten breast cancer patients who agreed to active participation were included. These patients were operated with either conservative surgery or segmental mastectomy, and then were treated with radiation therapy and chemotherapy. The activity of the upper trapezius, lower trapezius, supraspinatus and serratus anterior muscle were measured using surface electrodes during 4 hand gripping tasks (lowered their arms in standing position, 0%, 30%, and 50% of maximum voluntary contraction) in the scapular abduction plane. Results: The results were analyzed using a one-way repeated measures ANOVA. There was a significant difference in the lower trapezius and supraspinatus muscles according to grip strength, lower trapezius and supraspinatus muscles showed significantly difference according to grip strength (p<0.05). The result of the muscle activation according to hand strength (0%, 30%, and 50%) it showed a significant difference between the upper trapezius and supraspinatus in 0% grip strength (p<0.05). In addition, it did not show a significant difference between muscles in 30%, 50% hand strength. Conclusions: This study showed an increase in shoulder muscle activation with increasing hand grip strength with the upper trapezius muscle being more activated than other muscles in 0% grip strength. The finding of this study suggests usefulness for development of preventative measures and rehabilitation strategies for increasing shoulder motor function in patients with breast cancer.

• Archives of design research
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• v.13 no.3
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• pp.253-260
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• 2000

Writing instruments or pens have many features not commonly found in other products in terms of their structure and characteristics of use. That is, different pens are usually composed of almost identical parts and/or structure. The fact they work always grabbed in hands considered, the ergonomic design of pens is essential. Reports indicate consumers evaluate pens in writing comfort above all other factors when they select pens. Among various factors related to writing comfort, it shouldspecifically be the ergonomic improvements that design can effectively contribute to. Studies on the pen-grabbing comfort or on approaches based on the understanding of human-work relationships generally lack when compared with fashion-conscious aesthetic approaches to pen design. This paper, therefore, aims to reestablish the ergonomic design criteria including the necessities of specifications required to provide indispensable data for the pen design processes. Consequently, it should produce basic set of information for systematic approach to pen design and development, which is commonly called'concurrent engineering'. Also a cost-effective solution for product diversification strategy could be attributed to a modular system database based on the result of this attempt.