• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1521-1527
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• 2013

This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.

• Journal of muscle and joint health
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• v.29 no.1
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• pp.11-17
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• 2022

Purpose: This study aimed to provide objective and basic data for an effective treatment method by examining changes in the mechanical properties of muscles and the degree of tenderness when a combination of stretching exercise and ultrasound therapy is applied to patients with tension headaches. Methods: The participants were classified into two groups based on the intervention received: the therapeutic ultrasound combined with suboccipital stretching (n=15, experimental group) and infrared combined with suboccipital stretching (n=15, control group) groups. The intragroup differences in mechanical muscle properties and modified total tenderness score were compared and analyzed. Results: The comparison and analyses of the changes in muscle tone and stiffness revealed statistically significant intragroup decreases in the upper trapezius and suboccipitalis in the experimental group. Similarly, the comparison and analyses of the changes in muscle stiffness revealed statistically significant intragroup decreases in the upper trapezius in the control group. Conclusion: Therapeutic ultrasound combined with suboccipitalis stretching effectively increased the flexibility of the muscles around the cervical vertebrae and reduced muscle tension and stiffness in tension-type headache patients

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.81-88
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• 2006

Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control using a force-torque sensor or the indirect impedance control. In these methods, however, the control algorithms become complicated and the performance of position and force control cannot be improved because of the mechanical properties of the passive components. To cope with such problems, redundant actuation has been used to enhance the performance of position control and force control. In this research, a Double Actuator Unit (DAU) is proposed, with which the force control algorithm can be simplified and can make the robot ensure the safety during the external collision. The DAU is composed of two actuators; one controls the position and the other modulates the joint stiffness. Using this unit, it is possible to independently control the position and stiffness. The DAU based on the planetary gears is investigated in this paper. Performance using the DAU is also verified by various experiments. It is shown that the manipulator using this mechanism provides better safety during the impact with the environment by reducing the joint stiffness appropriately on detecting the collision of a manipulator.

• Structural Engineering and Mechanics
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• v.77 no.4
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• pp.509-521
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• 2021

The neighbouring gaps at the mortise-tenon joint in traditional timber structure, which leads to the complexity of the joint, are considered to impair the mechanical performance of the joint. In this paper, numerical simulation of loose joint was conducted to examine the deformation states, stress distributions, and bearing capacities, which was verified by full-scale test. On the basis of the experimental and numerical results, a simplified mechanics model with gaps has been proposed to present the bending capacity of the loose joint. Besides, the gap effects and parameter studies on the influences of tenon height, friction coefficient, elastic modulus and axial load were also investigated. As a result, the estimated relationship between moment and rotation angle of loose joint showed the agreement with the numerical results, demonstrating validity of the proposed model; The bending bearing capacity and rotational stiffness of loose joint had a certain drop with the increasing of gaps; and the tenon height may be the most important factor affecting the mechanical behaviors of the joint when it is subjected to repeated load; Research results can provide important references on the condition assessments of the existing mortise-tenon joint.

• Tunnel and Underground Space
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• v.15 no.5 s.58
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• pp.330-337
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• 2005

Apart from the geometric features of the rock joints, the shear characteristics of rock mass subject to shear force are also significantly affected by the boundary conditions in the neighborhood of the rock mass. The boundary conditions of the rock mass can be classified into 4 categories according to the stress state of the rock joint, of which the constant normal load (CNL) is the most used for shear test and produces the lowest shear strength and different behavior. In this study, the shear behavior under constant normal stiffness condition was able to replicated by the graphic method normalized by the test results under constant normal stress condition.

• The Korean Journal of Pharmacology
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• v.15 no.1_2 s.25
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• pp.39-43
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• 1979

Piroxicam is known to be a new nonsteroidal anti-inflammatory drug which has anti-inflammatory, antiedema, antigranuloma and analgesic activities through the mechanism of inhibition of prostaglandin synthetase. Clinical survey for piroxicam was carried cut on 40 cases of rheumatoid arthritis and 30 cases of degenerative arthritis who visited University Hospital from Feb. to June, 1979. Following results could be obtained: 1) In rheumatoid and degenerative arthritis, the effect of piroxicam was significant in decrease of joint pain, shortening of duration of morning stiffness, decrease in number of swollen joints, improvement of joint stiffness, decrease of E.S.R., increase of mean grip strength and decrease of articular index. 2) Side effects, almost all in G-I troubles were encountered in 6 cases in 40 cases of rheumatoid arthritis and 4 cases in 30 cases of degenerative arthritis.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.10a
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• pp.403-410
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• 1999

General1y, H-section is used for columns and beams in the middle and low steel building, But it has a strong and weak axis. Thus if H-section is used for columns, the structure needs reinforcement on the weak axis. Therefore recently, square holler section(S.H.S) is used for columns because it is able to coiler the vulnerability of H-section. Structural analysis is usually executed under the assumption that connections are either ideally pinned joint or fully rigid joint. Actually all connections are semi-rigid which possess a rotational stiffness. Therefore it can be designed economically as using the property of connections which has a rotational stiffness. This paper presents a prediction model curve which is fitted Kishi-Chen power Model about the behavior of connection between H-beam and S.H.S column. Non-linear analysis program was considered the non-linearity of semi-rigid connection and the geometrical non-linearity under the effect of axial force. It was programed by FORTRAN90 and Visual Basic.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1997.10a
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• pp.111-118
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• 1997

Generally, H-section is used for columns and beams in the middle and low building steel structure, But it has a axis and a weak axis. Thus if H-section is used for columns, the structure needs reinforcement on the weak axis. Therefore recently, square hollow section(S.H.S) is used for columns because it is able to cover the vulnerability of H-section. Structural analysis is usually executed under the assumption that connections are either ideally pinned joint or fully joint. Actually all connections are semi-rigid which possess a rotational stiffness. Therefore it can be designed economically as using the property of connections which has a rotational stiffness. This paper presents a prediction model curve which is fitted with Kishi-Chen Power Model about the behavior of connection between H-beam and S.H.S column in the previous experimental paper. It also suggests the new analysis algorithm considering the non-linear of semi-rigid connection and the geometrical non-linear under the effect of axial force.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.79-88
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• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.40-44
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• 1998

In this paper, a kinematic and dynamic model for an excavator is presented. A graphic user interface program for kinematic-dynamic analysis for the excavator is developed. To predict the stiffness and damping properties of the joint between the vehicle and the track, a parameter study is executed. Using the predicted joint stiffness and damping, the jerk simulation for the excavator is reproduced. Simulation results are compared with the test results to confirm the validity of the simulation model.