• Proceedings of the ESK Conference
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• 1996.10a
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• pp.21-25
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• 1996

The Electomyographic (EMG) signals of flexor-extensor muscle pairs were investigated to identify the neural excitation pattern of low-back pain (LBP) patients during a repetitive bending motion. New parameters and EMG normalization technique were developed to quantitatively represent the difference of temporal EMG patterns between ten healthy subjects and ten LBP patients. Flexor-extensor muscle pairs such as rectus abdominis(RA)-erector spinae (ES at LS), external oblique(EO)-internal oblique(IO), rectus femois (quadriceps: QUD)-biceps femoris(hamstrings:HAM), and tibialis anterior(TA)-gastrocnemius(GAS) pairs of muscles were selected in this study. Results indicated that the temporal EMG pattern such as the peak timing difference of QUD-HAM muscle pair and the duration of coexcitation of ES-RA muscle pair showed a statistically isgnificant difference between healthy subjects and LBP patients. These results indicated that the new technique and parameters could be used as a diagnostic tool especially for LBP patients with soft tissue injuries that are rarely dentified by traditional imaging techniques such as X-ray, CT scan or MRI. Improtantly, the new EMG technique did not require the maximal volutary contraction(MVC) measure for normalization that helped patients minimize the pain experience during and after the session. Further study needs to be made to validate and refine this method for clinical application.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.367-375
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• 2023

Most partial hand amputees experience limited wrist movement, which hinders the efficient functioning of upper limb, affecting hand-to-use coordination and the usability of the prosthetic hand. This limitation can lead to secondary musculoskeletal issues due to repetitive compensatory movement patterns. However, current partial hand prosthetic lack rotational wrist movement due to challenges in accommodating various hand shapes and limited space. In our study, we proposed a prosthetic hand with a wrist rotation module for partial hand amputees, aiming to reduce compensatory movement. To validate the proposed wrist rotation module, we conducted motion analysis during reach-to-grasp task. Furthermore, during the Jebsen-Taylor hand function test, we evaluated both the effect on upper limb movement and the usability of the prosthetic hand, comparing configurations with and without the wrist rotation module. The results showed that the prosthetic hand equipped with rotational wrist movements reduces compensatory movements and promotes efficient upper limb movement patterns. This finding highlights the value of incorporating a wrist rotation module in prosthetic hands to improve upper limb movement for partial hand amputees.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.440-447
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• 2000

In order to evaluate the cost effectiveness of seismic isolation for bridges in low and moderate seismic region, a method of calculation minimum life-cycle cost of seismic-isolated bridges under specific acceleration level and soil condition is developed. Input ground motion is modeled as spectral density function compatible with response spectrum for combination of acceleration coefficient and site coefficient. Failure probability is calculated by spectrum analysis based on random vibration theories to simplify repetitive calculations in the minimization procedure. Ductility of piers and its effects on cost effectiveness are considered by stochastic linearization method. Cost function and cost effectiveness index are defined by taking into consideration the characteristics of seismic isolated bridges. Limit states for calculation of failure probability are defined on superstructure, isolator and pier, respectively. The results of example design and analysis show that seismic isolation is more cost-effective in low and moderate seismic region than in high seismic region.

• Journal of Biosystems Engineering
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• v.23 no.3
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• pp.219-228
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• 1998

This study was conducted to develop the mathematical model and computer simulation program(TPPMTV98) for predicting the tractive performance of tracked vehicles. It takes into account major design parameters of the vehicle as well as the pressure-sinkage and shearing characteristics of the soil, and the response of the soil to repetitive loading. Structural analysis and numerical iterative method were used for the derivation of mathematical model. The simulatiom model TPPMTV98 can predict the ground pressure distribution and the shear stress under a track, the motion resistance, the tractive effort and the drawbar pull of the vehicles as functions of slip. Predicted tractive performance results obtained by the simulation model were validated by comparing the results firm the Wong's model, the offectiveness of Wong's model validated by many of the experiment. It was found that there is fairy close agreement between the prediction by TPPMTV98 and the results from Wong's model. The computer simulation model TPPMTV98 can be used for the optimization of tracked vehicle design or for the evaluation of vehicle candidates for a given mission and environment.

• Journal of the Korean Society of Safety
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• v.21 no.4 s.76
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• pp.108-113
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• 2006

The Work-Related Musculoskeletal Disorders(WMSDs) have been an rising issue since the 1970s. So many manufacturing companies have been tried to improve the work environments for the control and the prevention of the WMSDs. Specific risk factors associated with WMSDs include repetitive motion, heavy lifting, forceful exertion, contact stress, vibration, awkward posture and rapid hand and wrist movement. But recently it has reported that besides working conditions, job stress is the important hazard causes which lead to WMSDs. This study investigates the relation between WMSDs and Job stress from 1426 workers in Heavy Industry. Job stress was evaluated by Karasek's model. Job stress was associated with job satisfaction. Job demand was associated with the WMSDs, but job control was not associated with the WMSDs. The results can be used to design the management program for the WMSDs and the job stress.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1312-1315
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• 1996

Polishing work for a curved surface die demands simple and repetitive operations and requires much time while it also demands high precision. Therefore it is operated by skilled worker in handiwork. But workers avoid polishing work gradually because of the poor environments such as dust and noise. In order to reduce the polishing time and to alleviate the problem of shortage of skilled workers, researches for automation of polishing have been pursued in the developed countries such as Japan. In this research we develop a polishing robot with 2 degrees of freedom motion and pneumatic system, and attach it to machining center with 3 degrees of freedom to form an automatic polishing system which keeps the polishing tool vertically on the surface of die and maintains constant pneumatic pressure. The developed polishing robot is controlled by real time sliding mode control using DSP(digital signal processor). A synchronization between machining center and polishing robot is accomplished by using M code of machining center. A performance experiment for polishing work is executed by the developed polishing robot.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.58-62
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• 1988

Recently many adaptive control schemes for the industrial robot manipulator have been developed. Especially, learning control utilizing the repetitive motion of robot and based on iterative signal synthesis attracts much interests. However, since most of these approaches excludes the boundness of the input torque supplied to the manipulator, its effectiveness may be limited and also the full dynamic capacity of the robot manipulator can not be utilized. To overcome the above-mentioned difficulties and meet the desired performance, we propose an approach which yields the effective learning control schemes in this paper. In this study, some stability conditions derived from applying the Lyapunov theory to the discrete linear time-varying dynamic system are established and also an optimization scheme considering the bounded input torque is introduced. These results are simulated on a digital computer using a three-joint revolute manipulator to show their effectiveness.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.743-747
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• 1997

Polishing work for a curved surface die demands simple and repetitive operations and requires much time while it also demands high precision. Therefore it is operated by skilled worker in handiwork. Howener workers avoid polishing work gradually because of the poor environments such as dust and noise. In order to reduce the polishing time and to alleviate the problem of shortage of skilled workers, researches for automation of polishing have been pursued in the developed countries. In the research, a polishing robot with 2 degrees of freedom motion attached to machining center with 3 degrees of freedom and pneumatic system forms an automatic polishing system which keeps the polishing tool vertically on the surface of die and maintains constant pneumatic pressure. A synchronization between machining center and polishing robot is accomplished by using M code of machining center. A rulled surface and shadow mask are polished by the developed polishing robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1503-1507
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• 2003

A general vibration phenomenon of a rigid-body supported by springs can be viewed as a small repetitive screw displacement. From this view, a multi-directional vibration absorber can be designed by use of screw theory and transfer matrix method. In this paper, the basic equations of motion for a multi-body system have been expressed in terms of screws using transfer matrix method and a simple approach to the design of a multi-degrees-of-freedom absorber has been presented. In order to illustrate the methodology, an example for the design of a 2-DOF active absorber which is capable of absorbing vibration of a rigid body excited by 3-DOF external force has been presented.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.