• 대한기계학회논문집A
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• 제29권11호
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• Advances in robotics research
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• 제1권1호
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• pp.21-39
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• 2014

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1065-1068
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• 2003

The nano imprint process is one of the next generation lithography has been mentioned as one of major nanoreplication techniques because it is simple process, low cost, high replication fidelity and relatively high throughput. This process requires a surface contact between a template with patterns and a wafer on a stage. After contact, the vertical moving the template to the wafer causes some directional motions of the stage. Thus the stage must move according to the motions of the template to avoid the damage of the transferred patterns on the wafer. This study is to develop the wafer stage with a passive compliance to overcome the damage. This stage is designed with the concept like that it has a monolithic, symmetry and planar 6-DOF mechanism.

• Archives of Plastic Surgery
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• 제43권2호
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• pp.134-144
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• 2016

In adults, mallet finger is a traumatic zone I lesion of the extensor tendon with either tendon rupture or bony avulsion at the base of the distal phalanx. High-energy mechanisms of injury generally occur in young men, whereas lower energy mechanisms are observed in elderly women. The mechanism of injury is an axial load applied to a straight digit tip, which is then followed by passive extreme distal interphalangeal joint (DIPJ) hyperextension or hyperflexion. Mallet finger is diagnosed clinically, but an X-ray should always be performed. Tubiana's classification takes into account the size of the bony articular fragment and DIPJ subluxation. We propose to stage subluxated fractures as stage III if the subluxation is reducible with a splint and as stage IV if not. Left untreated, mallet finger becomes chronic and leads to a swan-neck deformity and DIPJ osteoarthritis. The goal of treatment is to restore active DIPJ extension. The results of a six- to eight-week conservative course of treatment with a DIPJ splint in slight hyperextension for tendon lesions or straight for bony avulsions depends on patient compliance. Surgical treatments vary in terms of the approach, the reduction technique, and the means of fixation. The risks involved are stiffness, septic arthritis, and osteoarthritis. Given the lack of consensus regarding indications for treatment, we propose to treat all cases of mallet finger with a dorsal glued splint except for stage IV mallet finger, which we treat with extra-articular pinning.

• 생명과학회지
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• 제32권2호
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• pp.175-188
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• 2022

혈관과 섬유증 기관들의 평활근과 세포외기질에 대한 릴랙신의 조절기능이 입증되어왔다. 본 총설에서는 저항성 소동맥과 방광을 포함한 섬유증 기관들의 세포외기질에 작용하는 릴랙신의 다양한 기전들을 고찰한다. 릴랙신은 혈관 평활근육의 수축을 억제하고, 콜라겐과 같은 세포외기질의 구성성분들을 감소키켜 혈관벽의 수동적 신전성을 증가시킴으로써, 혈관확장을 유도한다. 릴랙신이 동맥의 혈관확장을 유도하는 주된 세포기전은 RXFP1/PI3K의 활성화, Akt 인산화 및 eNOS 활성화를 통한 내피세포-의존성 산화질소의 생성에 의해 매개된다. 추가적으로, 릴랙신은 또한 다른 대체경로들을 작동하여 신장과 장간막 동맥의 혈관확장을 증가시킨다. 신장 소동맥에서, 릴랙신은 내피세포의 MMPs 및 EtB 수용체의 활성화와 VEGF 및 PlGF의 생성을 촉진하여, 평활근의 수축성과 콜라겐의 침착을 억제함으로써 혈관확장을 초래한다. 이와 달리, 장간막 소동맥에서, 릴랙신은 bradykinin (BK)-유도 이완을 시간-의존적으로 증강시킨다. BK-매개 이완의 신속 증가는 IK_Ca 이온통로와 뒤이은 EDH 유발에 의존하는 반면, BK에 의한 지속적 이완은 COX 활성과 PGI₂에 의존한다. 릴랙신의 항섬유화 효과는 염증유발 면역세포의 침투, endothelial-to-mesenchymal transition (EndMT) 및 근섬유아세포의 분화와 활성을 억제하여 매개된다. 릴랙신은 또한 근섬유아세포 내 NOS/NO/cGMP/PKG-1 경로를 활성화하여, TGF-β1-유도 ERK1/2 및 Smad2/3 신호의 활성과 ECM 콜라겐의 침착을 억제한다.