• 제어로봇시스템학회논문지
• /
• 제7권11호
• /
• pp.927-932
• /
• 2001

When people write a character with a pen stably, proper compliance planning is necessary. In this paper, after investigating the property of character writing task, we propose a fundamental grasp model for character writing and also analyze compliance characteristics for effective character writing using multi-fingered hands. For this, the general stiffness relation of multi-fingered hand is firstly described. Next, we investigate the grasp configurations for grasping a pen and then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given character writing task. Through the analysis, an effective grasp modeling for successful character writing is shown. And also, we conclude that the operational compliance characteristics should be properly planned for character writing, stably and precisely.

• Archives of Reconstructive Microsurgery
• /
• 제23권1호
• /
• pp.36-39
• /
• 2014

Extravasation injury refers to leakage of corrosive liquids from veins, resulting in tissue damage. The authors report on a case of extravasation injury to the left hand after administration of fluid to the antecubital area in a patient with brain damage. In order to minimize the effects of extravasation injury, rapid diagnosis and management are needed. In patients with stiffness, pressure sores can develop requiring more careful management by the medical staff.

• 한국의류학회지
• /
• 제13권1호
• /
• pp.79-87
• /
• 1989

In the part 1 and 2, relations were found between fundmental mechanical properties and primary hand values, performance of Korean women's summer and fall & winter fabrics. In this paper, in order to investigate the hand values and mechanical properties such as tensile, shearing, bending, compression, surface and thickness & weight of the core-spun yarn woven fabrics for Korean folk clothes were measured by KES-F system. The experimental results are statistically analyzed in the aspects of the mechanical properties, their effects on the hand values, formation of weared clothes and transformation behavior. The correlation in the hand values are analyzed, too. Furthermore, there mechanical properties are discussed in comparison with those values for kimono fabrics. The main results are summarized as follows: 1. The core-spun yarn woven fabrics for Korean folk clothes have box-shaped silhouette based on higher bending rigidity and shear elasticity. 2. The core-spun yarn woven fabrics for Korean folk clothes are inferior to silk fabrics, superior to polyester fabrics in formation. 3. A drapability and wrinkle recovery of core-spun yarn woven fabrics for Korean folk clothes formation for weared clothes are inferior to polyester fabrics, superior to silk fabrics. 4. A primary factor of mechanical properties contribute to the hand values of core-spun yarn woven fabrics for Korean folk clothes are same as the Korean women's winter fabrics, except for flexibility with soft feeling. 5. As for the hand values of core-spun yarn woven fabrics for Korean folk clothes, stiffness, anti-drape stiffness are superior to those of polyester fabrics. And also, flexibility with soft feeling, scrooping feeling of core-spun yarn woven fabrics have greater values as compared with silk fabrics for Korean folk clothes.

• 한국지반공학회지:지반
• /
• 제6권4호
• /
• pp.43-52
• /
• 1990

수평방향의 조화진동을 받는 말뚝주변의 지반특성에 관한 각종 계수들의 효과를 연구하였다. 그리고 비선형 해석을 위하여 말뚝주변의 흙을 성질이 같은 여러개의 동심고리 모양으로 나누어 지반반력 또는 흙의 강성을 계산하였으며 다음과 같은 결론을 얻었다. 1) 강성의 실수와 허수부분은 무차원 주파수가 증가함에 따라 전단 계수비, 포아슨비, 그리고 외부영역까지의 거리의 비에 대하여 큰 변화를 나타냈고 그 차이는 강성의 허수부분에 더 현저하게 나타났다. 2) 흙의 강성의 외부영역까지의 거리가 증가할수록 현저하게 감소하였는데 강성의 실수부분은 주파수가 작을수록 크게 나타났다. 반면에 허수부분은 작게 나타났다.

• Structural Engineering and Mechanics
• /
• 제89권4호
• /
• pp.411-420
• /
• 2024

The purpose of this research was to investigate the cyclic behavior of the D-shaped dampers (DSD). Similarly, at first, the numerical model was calibrated using the experimental sample. Then, parametric studies were conducted in order to investigate the effect of the radius and thickness of the damper on energy dissipation, effective and elastic stiffness, ultimate strength, and equivalent viscous damping ratio (EVDR). An analytical equation for the elastic stiffness of the DSD was also proposed, which showed good agreement with experimental results. Additionally, approximate equations were introduced to calculate the elastic and effective stiffness, ultimate strength, and energy dissipation. These equations were presented according to the curve fitting technique and based on numerical results. The results indicated that reducing the radius and increasing the thickness led to increased energy dissipation, effective stiffness, and ultimate strength of the damper. On the other hand, increasing the radius and thickness resulted in an increase in EVDR. Moreover, the ratio of effective stiffness to elastic stiffness also played a crucial role in increasing the EVDR. The thickness and radius of the damper were evaluated as the most effective dimensions for reducing energy dissipation and EVDR.

• 한국생활과학회지
• /
• 제12권1호
• /
• pp.63-73
• /
• 2003

The purpose of this study was to quantify the hands of fabrics for the Korean folk clothes using both a KES-FB and an artificial neural network. In order to select the proper input parameters, we calculated the correlation using step-wise regression between mechanical properties and the hand value of fabrics. For the classification, the primary hand values and total hand value, five neural networks with three-layered structure were constructed using the error back propagation algorithm and, in order to reduce errors and to speed up learning, the momentum method was selected. From the analysis of the primary and total hands using a self-constructed artificial intelligence system, the error rates of sleekness, stiffness, silkiness, and roughness compared with the judgement of expert panels were found to be 3.3%, 3.3%, 1.6%, and 4.9%, respectively, while that of the total hand was 9.83%.

• 로봇학회논문지
• /
• 제9권4호
• /
• pp.258-263
• /
• 2014

An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructured environments. In this study, we propose an AR-Hand based on a tendon-driven mechanism which consists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand based on the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithm or sensor system. The fingers are driven by simple tendon structures with each finger capable of adaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptive grasping is verified by various grasping experiments involving objects with different shapes and sizes.

• 한국의류학회지
• /
• 제11권3호
• /
• pp.79-88
• /
• 1987

In order to investigate the hand values and mechanical properties such as tensile, shearing, bending, compression, surface and thickness & weight of the women's summer fabrics were measured by KES-F system. Sorts of 78 commercial fabrics of women's summer cloth were classfied into 43 silk and 35 polyester fabrics according to materials. The experimental results were analysed statistically to relate the hand values and the mechanical properties and concerning to formation of weared clothes and transformation behavior were investigated. The main results are summarized as follows; 1. Polyester fabrics show higher tensile deformation than those of silk fabric. And also polyster fabric has a easy to shape-less and makes a silhouette which goes along with the body. 2. Silk fabrics is superior to polyester fabrics in formation and shear elasticity building box-shaped silhouette. 3. Polyester fabrics show sufficient ability to recover from tending deformation and drapability On the other hand, the compressibility and bending rigidity of silk fabrics were superior to polyester fabrics. 4. Regardless of materials, the bending properties is closely assocsiated with stiffness, anti-drape stiffness and flexibility with soft feeling. Fullness & softness and crispness is primarily influenced by surface properties. There is substantive relationship between scrooping and sheaing properties.

• 대한기계학회논문집A
• /
• 제26권7호
• /
• pp.1357-1365
• /
• 2002

A robot hand is used to transport the glass substrate in TFT-LCD manufacturing process. Carbon/epoxy composite is one of the best materials for this kind of robot hand application, due to their lightweight, high stiffness, and good damping characteristics. Major requirement of the robot hand is given as allowable deflection under weight loading of glass substrate and robot hand itself. In this thesis, a carbon/epoxy robot hand was analyzed using finite element method and beam theory to determine the deflection of the hand under the loading that is equivalent to actual weight. Because natural frequency is one of the major interests in robot hand design for TFT-LCD manufacturing process, modal analysis is also conducted using finite element method and beam theory. A robot hand was manufactured, and actual deflection and natural frequency were measured to verify the analysis results and compliance to requirement. The test results showed good agreement with analysis results.

• 한국산학기술학회논문지
• /
• 제21권5호
• /
• pp.103-110
• /
• 2020

수중 로봇의 가장 기본 성능이라 할 수 있는 동적 성능인 유영속도와 동적 효율 향상을 위해 수중생물을 모사한 로봇들이 주로 연구되고 있다. 그중에서 생체모사 소프트 로봇은 유연한 꼬리지느러미를 적용함으로써 높은 자유도를 구현할 수 있다. 다만, 유연한 구동부의 효율을 높이기 위해서는 구동 주파수에 맞추어 꼬리지느러미의 강성이 바뀌어야 한다. 따라서, 연구를 통해 새로운 형태의 가변강성 메커니즘을 구현하고, 이를 연구 과정에서 검증하였다. 본 연구에서는 실제 돌고래의 해부도에서 영감을 얻어, 가변강성 메커니즘을 적용한 돌고래 로봇을 새로이 설계하고 제작하는 과정을 기술하였다. 실제 돌고래의 척추 모양을 모사하여, 절삭과 적층형 공정으로 가변강성 구동부를 제작하였다. 로봇 돌고래를 구동하기 위한 텐던도 실제 돌고래의 텐던 위치를 고려하여 배치하였으며, 추가로 강성 변화를 위한 텐던을 설치하였다. 돌고래의 유선형 외형을 모사하여 로봇 돌고래를 제작하였고, 강성 변화에 따른 로봇 돌고래의 유영속도를 측정하였다. 동일한 구동 주파수에 꼬리지느러미 구동부의 강성을 변화시켰을 때, 로봇 돌고래의 유영속도의 차이가 약 1.24배, 추력으로는 약 1.5배 변화하였다.