• 대한인간공학회지
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• 제24권4호
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• pp.15-21
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• 2005

Use of a glove made of materials with a low elasticity decreases the performance of the hand such as agility, dexterity, range of motion, and grip strength. The present study examined if the adverse effects of a low-elastic glove can be reduced by a design which accommodates the changes of hand surface lengths by hand motion. Two glove designs which provide patches of elastic cloth and pleats at the finger joints and knuckle were developed by considering the hand surface length changes, and then compared with two conditions(bare hand and conventional glove design that does not consider the dynamic characteristics of the hand dimensions) in terms of completion time in peg board insertion task, maximum grip strength, discomfort in hand motion, discomfort in force exertion, and overall discomfort by 24 right-handed participants. The test results confirmed that wearing of a glove significantly reduced the agility and grip strength capability of the hand and indicated that the novel designs were effective to lessen the performance decreases compared to the conventional design. Also, of the glove designs, the pleat glove design was found most preferred for both better hand performance and less subjective discomfort.

• 한국산학기술학회논문지
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• 제13권3호
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• pp.1229-1237
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• 2012

본 연구는 파악력의 강도가 두 가지 팔 자세에서 어깨근육 근활성도에 어떠한 영향을 미치는지 알아보기 위하여 실시되었다. 건강한 성인 22명(남 11명, 여 11명)을 대상으로 실시하였고, 4가지 파악력(최대 파악력의 0%, 30%, 50%, 70%)을 팔의 중립 자세와 팔 $90^{\circ}$ 거상 자세에서 적용 했을 때 상승모근, 하승모근, 극하근, 전삼각근, 후삼각근의 근활성도를 표면 근전도를 이용하여 측정하였다. 팔 중립 자세에서는 파악력의 강도에 따라 극하근, 전삼각근, 후삼각근이 유의한 차이를 보였고(p<0.05), 팔 $90^{\circ}$ 거상 자세에서는 전삼각근, 후삼각근이 유의한 차이를 보였다(p<0.05). 본 연구의 결과, 2가지 팔의 자세에서 각각 파악력의 강도에 따라 어깨근육 근활성도가 변화됨을 확인하였다. 손 쥐기 과제를 중립자세에서 실시할 경우 어깨관절 안정근인 극하근이 활성화되고, 팔 $90^{\circ}$ 거상 자세에서는 삼각근을 억제된다는 점을 고려하여, 손을 사용하는 작업 시 인간공학적 접근으로 어깨 손상의 예방과 손상 후 재활 훈련 시 효율적인 전략으로 사용할 수 있을 것으로 여겨진다.

• 산업경영시스템학회지
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• 제22권52호
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• pp.43-52
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• 1999

In this study, the vibration damping characteristics of the powered hand tools transmitted in hand-arm system were examined and compared. The types of powered tools for the experiment are general typed drill, impact drill, grinder, and wire brush. To analyze the characteristics of vibration damping, the magnitude of acceleration of vibration on X, Y, and Z direction at tool, hand, wrist, and the joint between forearm and upper arm were measured respectively. The results indicated that impact drill generated the highest value of acceleration of vibration among the four types of tools used in the experiments. The highest value of the amount of acceleration of vibration was found in the direction of Y. And the amount of acceleration of vibration was significantly affected by the type of tool, type of work, and pushing forces. As become the more distant from the tool, the smaller the amount of acceleration of vibration. Also, the bigger the pushing force at the tool, the higher the acceleration of vibration.

• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• 대한치과교정학회지
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• 제21권1호
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• pp.185-195
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• 1991

This study was undertaken to grope the correlation of the maximal bite force and tooth-craniofacial structure. The maximal bite force of 76 adult male, aged 18-28 (mean aged: $23.4{\pm}2.2$) years, was estimated and cephalometric headplates were measured, tabulated and statistically analyzed. The results were as follows. 1. 59.61kg of bite force in first molar, 45.38kg in premolar and 17.10kg in central incisor were arranged. 2. The bite force was negatively correlated to genial angle, mandibular plane angle, the angle between occlusal plane and mandibular plane, the angle between palatal plane and mandibular plane, and positively correlated to posterior height of face, length of mandibular body, length of ramus, facial depth in craniofacial structure. 3. The group with strong bite force showed small genial angle, mandibular plane angle, the angle between occlusal plane and mandibular plane, the angle between palatal plane and mandibular plane, and long posterior height of face, length of mandibular body, length of ramus, facial depth. So they manifested the tendency to brachycephalic pattern, on the other hand, the group with weak bite force manifested the tendency to dolichocephalic pattern. 4. There is no correlationships between bite force and mesial inclination of premolar axis in this subject. 5. It is considered bite force have an effect upon craniofacial pattern, especially upon the lower face.

• 한국컴퓨터정보학회논문지
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• 제23권7호
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• pp.49-56
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• 2018

Virtual object weight perception is an important topic, as it heightens the believability of object manipulation in immersive virtual environments. Although weight perception can be achieved using haptic interfaces, their technical complexity makes them difficult to apply in immersive virtual environments. In this study, we present a visual pseudo-haptic feedback system that simulates and depicts the weights of virtual objects, the effect of which is weight perception. The proposed method recognizes grasping and manipulating hand motions using computer vision-based tracking methods, visualizing a Force Arrow to indicate the current lifting forces and its difference from the standard lifting force. With the proposed Force Arrow method, a user can more accurately perceive the logical and unidirectional weight and therefore control the force used to lift a virtual object. In this paper, we investigate the potential of the proposed method in discriminating between different weights of virtual objects.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.58-65
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• 2000

This study is concerned about the verification and the implementation of a mechanical model for the force system in end milling. The model is based on the relationship between the cutting forces and the chip thickness. The components of the model are based on the average cutting forces which are experimentally obtained. And, both instantaneous and average force system characteristics are described as a function of cut geometry and a feed rate. This model employed two specific cutting forces, instantaneous and average specific cutting force, and the models which obtained using two cutting forces were compared and analyzed. In this study, cutter deflection with respect to the center of rotation is considered, which is a major part of the tool run-outs. The effect of run-out on the cutting forces is also discussed. The relationships among the run-out parameters, cutting parameters and the resulting force system characteristics are presented. In all cases, for the down milling with a right hand helix cutter is considered.

• Journal of Magnetics
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• 제16권4호
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• pp.427-430
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• 2011

The rolled steels for welded structure applied tensile stress have been examined by means of magnetic Barkhausen noise (MBN) method and of a physical parameter obtained from a hysteresis loop. The behaviors of MBN parameters and coercive force with tensile stress were discussed in relation to microstructure changes. There is no change in MBN parameters and coercive force below yield strength. The coercive force rises rapidly with tensile stress above yield strength. On the other hand, the rms voltage and the peak in averaged rms voltage take a maximum around yield strength and then decreases. The magnetomotive force at peak in the averaged rms voltage shows a minimum around yield strength. These phenomena are attributed to the combined effects of cell texture and dislocation density. In addition, the behaviors of MBN parameters around yield strength may be reflected by the localized changes in strain field due to the formation of dislocation tangles.