• International Journal of Automotive Technology
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• 제7권4호
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• pp.449-457
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• 2006

The driver model during drift cornering was examined, and a technique to improve vehicle movement performance during drift cornering was investigated. Based on the results obtained, the driver was found to steer using feedback of the body slip angle and the body slip angle velocity during drift cornering. Moreover, improvement of the cornering force characteristic, at which exceeded the maximum cornering force calm as much as possible is important.

• International journal of advanced smart convergence
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• 제4권1호
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• pp.99-103
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• 2015

Quake wavelength technique was designed of the sway by the body. There was presented a concept of the dangle wavelength by twisting condition of posture. We compared to the twisting condition for an average variation and maximum variation with the movement. There was used a combination system and correlation system of the posture. Their correlation signal was presented a control data by the dynamic movement. The quake wavelength system was to be formation of activity aspects by posture. The correlation of wavelength technique was applied to the a little action of posture variation signal. Quake wavelength by the dynamic movement was determined to a variation of vision condition of the $Vi-{\alpha}_{AVG}$ with $(-1.27){\pm}(-0.34)$ units, that vestibular condition of the $Ve-{\alpha}_{AVG}$ with $(-0.49){\pm}(-0.4)$ units, that somatosensory condition of the $So-{\alpha}_{AVG}$ with $0.037{\pm}0.269$ units, that CNS condition of the $C-{\alpha}_{AVG}$ with $(-0.049){\pm}0.015$ units. As the study of the quake wavelength technique was depended on the action system of body movement that a maximum and averag values was used a movement of combination data. The system was required an action signal for the form of actual signal on the basis of a little movement condition in the body. The human action systemwas compared to maximum and average from the movement derived the body. Therefore, their system was controlled to evaluate posture condition for the body correlation.

• 예술인문사회 융합 멀티미디어 논문지
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• 제8권4호
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• pp.183-196
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• 2018

인간의 행동이 생각이나 마음에 의해 지배되기도 하지만 반대로 인간의 생각이나 마음이 행동에 의해 지배되기도 한다는 관점에서 접근하는 연구들이 2000년대 후반부터 주목받기 시작했다. 물리적 경험이 은유적으로 연결되어 있는 추상적 개념을 상기시켜 결과적으로 특정 대상에 대한 판단이나 평가에 영향을 미친다는 것이다. 하지만 지금까지 진행되어 온 연구들은 인간이 보는 대상, 만지는 대상, 들고 있는 대상 등에 따라 인지 및 판단이 달라진다는 연구들로서 아직까지 인간의 특정 행동 패턴에 따른 차별적 효과에 대한 연구는 매우 희박한 상황이다. 본 연구에서는 위 또는 아래 방향으로 신체의 위치 이동이 일어날 경우 심리적 판단에 차별적 영향을 미친다는 사실을 밝혀내고자 하였다. 1차 실험에서 은유적으로 연결되어 있다고 판단되는 단어들끼리 짝짓는 테스트를 진행하였고, 2차 실험에서는 피험자들이 복잡한 연산문제를 짧은 시간 내에 풀게 하고, 상향 이동 또는 하향 이동 관련된 영상물을 보게 한 후, 이에 대한 심리적 판단을 측정하는 방식으로 진행하였다. 연구 결과, 신체의 '하향 이동'은 '종결'과 은유적인 연결이 있는 반면, '상향 이동'은 '진행'과 연관이 있음이 밝혀졌고, 신체의 상향 이동 경험자에 비해 하향 이동 경험자의 경우 자신의 의사결정에 대한 번복의향이 낮게 나타나고, 의사결정에 대한 확신과 성과에 대한 기대감은 높게 나타났다.

• 혜화의학회지
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• 제19권1호
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• pp.35-48
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• 2010

In Neijing("內經"), it explains heaven, earth, four seasons(天地四時) take part in human's birth, it gives influence on life support, and have organic relationship between body and movement of sun and earth(日月運行) of heaven and earth. Human body and the natural world corresponds, so the time changes in the natural world give immediate influence to human body, and correspond changes happen inside human body. This has no exception in qi of human(人氣), meridians, the viscera and organs(臟腑) and so on. In time, there are many kinds of cycles such as year, month, 10 days and a day. Yin and yang and the five elements in each cycle shows changes of prosperity and decay and transformation. In a year, there are spring, summer, late summer, fall and winter which are each included to wood, fire, earth, metal and water. Spring and summer belong to yang(陽), and fall and winter belong to yin(陰). A day can be divided into the crowing of the cook, dawn, noon, and twilight. After midnight yin falls and yang rises(陰盡陽生), and after noon yang falls and yin rises(陽盡陰生). Ups and downs of the qi and blood and human body change with time and the region of whereabout is different. In one month, when the moon is full qi of blood rises and when the moon comes down qi of blood falls. The qi of meridian(經氣) has a periodical changes with regular movement in meridian. This is a result of continuing movement of meridian and the nutrient(營) and the defense(衛) in human body, stars correspond with ups, and correspond with flow of water of meridian(經水) with downs. In a day the twelve meridians(十二經脈) in hour of yin(hours 3~5), it starts with qi and blood of lung meridian(手太陰肺經) prosperous, each qi and blood of meridian prosperous in order. In eight extra meridians(奇經八脈), Bideungpalbup(飛騰八法) per 5 days, Younggoopalbup(靈龜八法) per 60 days qi of pulse(脈氣) changes correspond. The qi and blood of five meridian points(五兪穴) is 5 days, so.

• International Journal of Precision Engineering and Manufacturing
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• 제7권4호
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• pp.40-46
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• 2006

The market of programmable implantable pumps has bound to a monopolistic situation, inducing high device costs, thus making them inaccessible to most patients. Micro-mechanical and medical innovations allow improved performances by reducing the dimensions. This affects the consumption and weight, and, by reducing the number of parts, the cost is also affected. This paper presents the procedure followed to design an innovative implantable drug delivery system. This drug delivery system consists of a low flow pump which shall be implanted in the human body to relieve pain. In comparison to classical known solutions, this pump presents many advantages of high interest in both medical and mechanical terms. The first section of the article describes the specifications which would characterize a perfect delivery system from every points of view. This concerns shape, medication, flow, autonomy, biocompatibility, security and sterilization ability. Afterwards, an overview of existing systems is proposed in a decisional tree. Positive displacement motorized pumps are classified into three main groups: the continuous movement group, the fractioned translation group and the alternative movement group. These systems are described and the different problems which are specific to these mechanisms are presented. Since none of them fully satisfy the specifications, an innovation is justified.. The decisional tree is therefore extended by adding new principles: fractioned refilling and fractioned injection within the fractioned translation movement group, spider guiding system within the alternative translation movement group, rotational bearing guided device and notch hinge guided device in the alternative rotation movement group.

• 로봇학회논문지
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• 제14권4호
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• pp.318-325
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• 2019

NREX, an upper limb exoskeleton robot, was developed at the National Rehabilitation Center to assist in the upper limb movements of subjects with weak muscular strength and control ability of the upper limbs, such as those with hemiplegia. For the free movement of the shoulder of the existing NREX, three passive joints were added, which improved its wearability. For the flexion/extension movement and internal/external rotation movement of the shoulder of the robot, the ball lock pin is used to fix or rotate the passive joint. The force and torque between a human and a robot were measured and analyzed in a reaching movement for four targets using a six-axis force/torque sensor for 20 able-bodied subjects. The addition of two passive joints to allow the user to rotate the shoulder can confirm that the average force of the upper limb must be 31.6% less and the torque must be 48.9% less to perform the movement related to the axis of rotation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권3호
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• pp.246-252
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• 2005

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.59.4-59
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• 2001

In this paper, wireless interface of the motion between human and robot is implemented. The idea is that if a human who is equiped with device including accelerometer and rate-gyro sensor move his/her arm, then the robot follows human motion. The robot is designed as wheeled type mobile robot with two link arms. The robot´s basic movements such as forward, backward, left, right movement can be controlled from foot sensor which human steps on. Arm movements can be controlled by arm motion of human motion. In order to detect human motion, sensor data analysis from gyro and accelerometer has to be done. Data from sensors are transferred through wireless communication to activate the robot.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 전자공학회논문지CI
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• 제48권5호
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• pp.8-15
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• 2011

본 연구의 목적은 가상환경 내의 가상 군인이 다른 가상군인 혹은 시뮬레이션에 참가한 실제 군인과 원활한 의사소통을 하기 위해, 제한된 인지에 기초한 지도제작 (Limited-Perception Mapping) 모듈을 지형추론(Spatial Reasoning) 모듈, 경로 계획(Path Planning) 모듈, 및 인간 모션스타일 (Human Motion Style) 모듈들과 통합하는 통합 시뮬레이션 시스템(Integrated Simulation System)을 만드는 것이다. 가상 인간을 다루는 군사 시뮬레이션, 컴퓨터 게임과 같은 많은 연구들에서, 인간의 고유 특성인 제한된 인지 (예: 120 정도의 시야)가 무시돼왔거나 전지전능한 인지에 의해 제작되는 전역 지도를 사용함에 의해서 인지과정을 단순화해 왔다. 이들의 시스템에서는 Placement node가 사용됨으로써 가상환경 디자이너들은 가상환경을 제작할 때 노드들 간에 서로 도달할 수 있는 노드들과 필요 정보를 미리 저장해 두는 기법을 사용하고 있다. 그러나 본 연구의 통합 시뮬레이션 시스템은 노동집약적이고 다이내믹한 상황에서는 많은 제한사항이 존재하는 전지전능한 기법에 의하지 않고 단지 인간과 같은 정도의 제한적 인지만을 갖고도 인간과 유사한 움직임을 성공적으로 달성할 수 있음을 보여 주고 있다.