• The Journal of Korean Physical Therapy
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• 제32권4호
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• pp.193-197
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• 2020

Purpose: The purpose of this study was to investigate the immediate effects of calf muscle Kinesio taping on ankle joint reposition sense (JRS) and force sense (FS) in healthy elderly. Methods: Thirteen healthy elderly subjects were participated in this study. The error of ankle JRS and FS was evaluated by 3D motion capture device and digital dynamometer depending on three different taping conditions (Kinesio taping, sham taping, and no taping) respectively. All of subjects were asked to perform a proprioceptive task of ankle JRS and FS. One-way repeated ANOVA test was used to compare the error of JRS and FS depending on three different taping conditions. Results: With Kinesio taping over calf muscle, ankle joint reposition sense error and force sense error significantly decreased, if compared with a sham taping or no taping condition. Conclusion: To apply Kinesio taping over calf muscle could enhance ankle proprioceptive sense in the elderly people.

• Steel and Composite Structures
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• 제44권1호
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• pp.1-15
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• 2022

The weld quality has always been an important factor affecting the development of exposed CFT column-base joint. In this paper, a new type of exposed RCFST column-base joint is proposed, in which the high strength steel bars (USD 685) are set through the column and reinforced concrete foundation without any base plate and anchor bolts. Three specimens, the varying axial force ratio (0, 0.25 and 0.5), were tested under cyclic loadings. In addition, the bending moment capacity, energy dissipation capacity and deformation capacity of column-base joints were clarified. The experimental results indicated that the axial force ratio increases the stiffness and the bending moment and improves the energy dissipation capacity of column-base joints. This is because a large axial force can limit the slip between steel tubular and infilled concrete effectively. The specimens show stable hysteresis behavior.

• 한국컴퓨터그래픽스학회논문지
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• 제1권2호
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• 국제강구조저널
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• 제18권4호
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• pp.1373-1383
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• 2018

Experimental study was conducted to investigate the seismic behavior of roof joint. Eight full-scale specimens were tested considering the effects of axial force, joint height, hole shape of base plate and edge distance of concrete on the failure mode and resistance capacity of roof joint. With the increase of axial force, the hysteretic curves were fuller. The mechanical model of roof joint change from bending to shear. With the increase of joint height, the ultimate strength of roof joint decreased. If the hole shape of base plate changed from circle to loose, the slip behavior of roof joint appeared and the ultimate strength of roof joint decreased. The damage of edge concrete may occur if the edge distance of concrete was not big enough.

• 한국자동차공학회논문집
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• 제18권1호
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• pp.1-7
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• 2010

The paper proposes a multi-body dynamic simulation to numerically evaluate the generated axial force(G.A.F) and plunging resistant force(P.R.F) practically related to the shudder and idling vibration of an automobile. A numerical analysis of two plunging types of CV joints, tripod joint(TJ) and very low axial tripod joint(VTJ), is conducted using the commercial program DAFUL. User-defined subroutines of a friction model illustrating the contacted parts of the outboard and inboard joint are subsequently developed to overcome the numerical instability and improve the solution performance. The Coulomb friction effect is applied to describe the contact models of the lubricated parts in the rolling and sliding mechanisms. The numerical results, in accordance with the joint articulation angle variation, are validated with experimentation. The offset between spider and tulip housing is demonstrated to be the critical role in producing the 3rd order component of the axial force that potentially causes the noise and vibration in vehicle. The VTJ shows an excellent behavior for the shudder when compared with TJ. In addition, a flexible nonlinear contact analysis coupled with rigid multi-body dynamics is also performed to show the dynamic strength characteristics of the rollers, housing, and spider.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 한국구조물진단유지관리공학회 논문집
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• 제7권1호
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• pp.251-258
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• 2003

This study is to understand the characteristics of axial force behavior that operates to the part of continuous welded rail and to investigate the basic data for secure the structure's stability and retrofit of the track. To develop the FEM model that type of plate girder which is used in the domestic national railway among servicing railway type. It is to analyze the characteristics of axial force behavior according to equip of the expansion joint and support placing by using the axial force simulation in making the continuous welded rail. As the result of research on the parametric valuables through the analysis, it is investigated that 'FMFM type' is more efficient than the other support type. Also, it conclude that structures are having the expansion joint is the most safe condition.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 한국운동역학회지
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• 제16권4호
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• pp.175-187
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• 2006

The purpose of this study was to find the relationship between Achilles tendon angle, angular velocity from 2D cinematography utilized to easily analyze the functions of shoes, ankle joint moment, knee joint moment, and hip joint moment from 3D cinematography utilized to predict the injury. Also, this study was to provide the optimal standard to analyze the injury related to the shoes. Subjects in this study were 30 university male students and 18 conditions (2 types of running speed, 3 of midsole hardness, 3 of midsole height) were measured using cinematography and force platform. The results were as following. 1) Hip joint abduction moment was effected by many variables such as running speed, midsole height, maximum achilles tendon angle, ground reaction force. 2) Knee joint rotational moment in running was approximately 1/10 - 1/4 times of the injury critical value and eversion moment was approximately 1/4 - 1/2 times of the injury critical value. 3) Ankle joint pronation moment in running was 1/3 - 1/2 times of the injury critical value. 4) Knee joint rotational moment was found to be irrelevant with maximum achilles tendon angle or angular velocity. 5) Pronation from running was thought to be relevant to rather eversion moment activity than rotational moment activity of knee joint. 6) Plantar flexion abductor of ankle showed significant relationship with the ground reaction force variable. 7) When the loading rate for ground reaction force in passive region increased, extensor tended to be exposed to the injury. Main variables in biomechanical analysis of shoes were impact absorption and pronation. Among these variables, pronation factor was reported to be relevant with knee injury from long duration exercise. Achilles tendon angle factor was utilized frequently to evaluate this. However, as the results of this study showed, the relationship between these variables and injury relating variable of knee moment was so important. Studies without consideration on this finding should be reconsidered and reconfirmed.

• 한국강구조학회 논문집
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• 제9권1호통권30호
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• pp.107-120
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• 1997

The purpose of this study is to develop composite structural system which is to have versatility in plan design and to improve economical efficieney, to maximise structural capacity than existing structural system. In this viewpoint, it was investigated to the properties of structural behaviors for i oint consisting of concrete filled steel square tube column and P.C reinforced concrete beam through a series of hysteretic behavior experiment. In the previous report, researched to the properties of joints with key parameters. such as Axial Force ratio and section types. From the based on previous results, this study investigated the properties of this joints with key parameters, such as strength of concrete, size of panel zone and Axial Force ratio. The obtained results are summarised as follows. (1) Investigating for the failure mode of the beam-to-column joint, the specimens of S,LL and LH series(except for L5H) presented flexural failure mode. (2) The initial stiffness of joint was increasd as the decrease of axial force ratio and increase of the concrete strength. (3) The rotation resisting capacity was effective as the increment of the concrete strength and decrement of the axial force ratio. (4) The emprical formula to predict the ultimate capacity of joint model to introduce decrease coefficient according to the axial force ratio to superimpose shearing strength of steel web(H section) and bending strength of reinforced concrete beam was expected.