• Structural Engineering and Mechanics
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• v.7 no.4
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• pp.413-432
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• 1999

A macro-element model is developed to account for shear deformation and bond slip of reinforcement bars in the beam-column joint region of reinforced concrete structures. The joint region is idealized by two springs in series, one representing shear deformation and the other representing bond slip. The softened truss model theory is adopted to establish the shear force-shear deformation relationship and to determine the shear capacity of the joint. A detailed model for the bond slip of the reinforcing bars at the beam-column interface is presented. The proposed macro-element model of the joint is validated using available experimental data on beam-column connections representing exterior joints in ductile and nonductile frames.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.985-989
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• 1990

This paper presents a fundamental study of a millimeter-sized master-slave robot driven by conduit-guided wires, which is expected to be applied to the delicate surgical operations, the assembling precise and small parts and so on. This system consists of a millimeter-sized slave robot and a master manipulator of which the size is adapted to a human finger. Displacement and torque of the master side can be reduced and transferred to the slave robot by controlling the motor torque against the master torque by feeding back tension signals. The master can feel the tensions by the motor torque. In this paper, the design method and making process of the master-slave system and the dynamical characteristic of displacement and torque control are proposed.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.213-216
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• 2005

This paper presents force feedback control performance of a 3DOF haptic device that can be used for minimally invasive surgery (MIS). As a first step, a 3DOF electrorheological (ER) joint is designed using a spherical mechanism. And it is optimized based on the mathematical torque modeling. Subsequently, the master haptic device is manufactured by the spherical joint. In order to achieve desired force trajectories, model based compensation strategy is adopted for the ER master. Therefore, Preisach model fur the PMA-based ER fluid is identified using experimental first order descending (FOD) curves. A compensation strategy is then formulated through the model inversion to achieve desired force at the ER master. Tracking control performances for sinusoidal force trajectory are presented, and their tracking errors are evaluated.

• The Journal of Churna Manual Medicine for Spine and Nerves
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• v.6 no.1
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• pp.63-74
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• 2011

Objectives: The purpose of this study is to investigate the clinical application of Gamisopunghwalhyeal-tang to three patients traumatic knee joint injury. Methods: Patients are hospitalized at Dept. of Oriental Rehabilitation, Bu-Chun Jaseng Oriental Medicine Hospital, diagnosed as traumatic knee joint injury and treated mainly with herbal medicine ; Gamisopunghwalhyeal-tang. This study was measured by VAS(Visual Analogue Scale) score and walking time and Western Ontario and McMaster Universities(WOMAC) index score. Results: After taking Gamisopunghwalhyeal-tang, the patient's pain was controlled and increased time of walking on floor after treatment. VAS & WOMAC score were decreased. Conclusions: As seen in this three cases of traumatic knee joint injury, Gamisopunghwalhyeal-tang has a positive effect to control pain with traumatic knee joint injury.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.9
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• pp.2202-2209
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• 2009

Joint paths are induced mathematically for many kinds of joint pattern between master- and sub-pipes. By compensating them with root gap of welds and kerf width, real cutting paths are determined. Their NC codes are generated, and the paths generated by NC code are verified by a ghost function. A beveling is implemented through tilting a torch in the A- and B-axis direction for 8 sections in the chuck rotation of C-axis. The effective CAM program was developed specially for 6-axis CNC pipe coasters which cut a master or sub- pipe along the cutting path and simultaneously fulfill a beveling process.

• Journal of muscle and joint health
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• v.8 no.2
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• pp.278-286
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• 2001

With the aging of society a great deal of interest is being placed on the value of longitudinal data in evaluating physiological losses. We present data on test-one/test-two reliability and reproducibility for measures of training, bone density from a longitudinal study of master athletes. Fifty-two males (mean age at test $1=58.2{\pm}9.8\;years$) and thirty-two females ($54.4{\pm}8.8\;years$) were selected from the study population. Bone mineral density was determined using DEXA (Hologic 1500). The characteristics of the subjects are presented below as $means\;{\pm}\;S.D$. The data was imported into the Statistical Package for the Social Science (SPSS 9.0, Chicago, IL). Paired t-tests were performed between visit 1 and visit 2 in subjects. Pearson correlations were performed. The results of this study indicate the measures of training history, body mass and bone density are reasonably stable and reproducible. We conclude that body composition and bone density parameters are stable and reproducible over time in active older subjects. Physiologic measures in master athletes are fairly stable, and reproducible over time Longitudinal studies investigating age-related changes in master athletes need to be conducted on a time schedule of greater than two years.

• Korean Journal of Applied Biomechanics
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• v.31 no.3
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• pp.183-188
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• 2021

Objective: The purpose of this study was to develop a stretchable joint motion sensor that is based on silver nano-particle. Through this sensor, it can be utilized as an equipment for rehabilitation and analyze joint movement. Method: In this study, precursor solution was created, after that, nozel printer (Musashi, Image master 350PC) was used to print on a circuit board. Sourcemeter (Keithley, Keithley-2450) was used in order to evaluate changes of electric resistance as the sensor stretches. In addition, the sensor was attached on center of a knee joint to 2 male adults, and performed knee flexion-extension in order to evaluate accurate analysis; 3 infrared cameras (100 Hz, Motion Master 100, Visol Inc., Korea) were also used to analyze three dimensional movement. Descriptive statistics were suggested for comparing each accuracy of measurement variables of joint motions with the sensor and 3D motions. Results: The change of electric resistance of the sensor indicated multiple of 30 times from initial value in 50% of elongation and the value of electric resistance were distinctively classified by following 10%, 20%, 30%, 40% of elongation respectively. Through using the sensor and 3D camera to analyze movement variable, it showed a resistance of 99% in a knee joint extension, whereas, it indicated about 80% in flexion phase. Conclusion: In this research, the stretchable joint motion sensor was created based on silver nanoparticle that has high conductivity. If the sensor stretches, the distance between nanoparticles recede which lead gradual disconnection of an electric circuit and to have increment of electric resistance. Through evaluating angle of knee joints with observation of sensor's electric resistance, it showed similar a result and propensity from 3D motion analysis. However, unstable electric resistance of the stretchable sensor was observed when it stretches to maximum length, or went through numerous joint movements. Therefore, the sensor need complement that requires stability when it comes to measuring motions in any condition.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.11
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• pp.3066-3073
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• 2009

Joint paths of master and branch pipes are induced mathematically for many kinds of joint patterns between both pipes in 3-axis pipe profile-cutting machines. By compensating them with a kerf width, the real cutting paths are determined, and their CL-data are generated, and the tool paths generated by CL-data are verified by a ghost function. A bevelling of welds is implemented through tilting a cutting torch in the $\beta$-axis direction for 8 sections in the chuck rotation of $\alpha$-axis. A PLC controls simultaneously position and velocity in a real time for $\alpha$, X, $\beta$-axis by loading CL-data generated. We developed the PLC-controlled 3-axis pipe profile-cutting system which can cut a master or branch pipe along the cutting path and simultaneously do a bevelling process.

• The Journal of Churna Manual Medicine for Spine and Nerves
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• v.8 no.2
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• pp.123-130
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• 2013

Objectives : The purpose of this clinical case is to evaluate the efficacy of Harpagophytum radix. Pharmacopuncture on Degenerative diseases of knee joint. Methods : We used Korean Medicine treatment and Harpagophytum radix. pharmacopuncture, for this patients. This case is measured and assessed by Neumerical Rating Scale(NRS), Korea Western Ontario MacMaster Universities Osteoarthritis Index(KWOMAC) and Physical examination of knee joint. Results : The NRS decreased from 8 to 5(Left knee joint) & 5 to 4(Right knee joint) and KWOMAC total points decreased from 77 to 41. Also Physical examination of knee joint improved. Conclusions : Harpagophytum radix. pharmacopuncture with Korean Medicine treatment is proved to be helpful to the pain relief and function recovery of knee joint.