• 대한기계학회논문집
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• 제17권10호
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• pp.2437-2445
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• 1993

In this work, a new method is presented for generating the manipulator path which significantly reduces residual vibration under the torque constraints. The desired path is optimally designed so that the required movement can be achieved with minimum residual vibration. From the previous research works, the dynamic model had been established including both the link and the joint flexibilities. The performance index is selected to minimize the maximum amplitude of residual vibration. The path to be designed is developed by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. The concept of correlation coefficients is used to select the minimum number of design variables, i.e. Fourier coefficients, the only ones which have a considerable effect on the reduction of residual vibration. A two-link Manipulator is used to evaluate this method. Results show that residual vibration can be drastically reduced by selecting an appropriate manipulator path to both of unlimited and torque-limited cases.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 B
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• pp.1132-1134
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• 2005

This paper presents a design strategy of Slotless type BLDC motor using the space harmonic field method. The distribution of Back emf and torque are considered by movement of the Permanent Magnet and armature current. The result of magnetic field distribution, back-emf, and torque are in agreement with FEM.

• 한국정밀공학회지
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• 제28권6호
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• pp.657-682
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• 2011

This paper presents the dynamic analysis on the joint torque of a finger for the tip pinch task. The dynamic model on finger movement was developed in order to predict the joint torques of an index finger, and the finger was assumed as a three-link planar manipulator. Analysis of the model revealed that the joint stiffness was one of the most important parameters affecting the joint torque. The stiffness of the finger joint was experimentally measured, and it was used in analyzing the finger joint torque required for performing the tip pinch task. The obtained joint torque for the tip pinch task will be used as the design requirements of the finger exoskeletal orthosis actuated by the polymer actuator whose allowable torque limit is relatively low compared to that of a mechanical actuator.

• 대한치과교정학회지
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• 제25권2호
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• pp.143-152
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• 1995

이 연구는 다양한 형태의 closing loops의 activation에 따른 치주조직에서의 응력분포를 평가하고 상악 절치의 이동 양상을 예측하기 위하여 3차원 유한요소법에 의하여 시행되었다. 동시에 상악 절치의 견인시 사용되는 bull loop, key-hole loop, T-loop, combination loop 그리고 asymmetrical T-loop도 3차원 유한요소법에 의해 분석 되었다. 이 연구로부터 얻어진 결과는 다음과 같다. 1. 여러가지 형태의 공간폐쇄용 루프중 bull loop에서 가장 큰 수평력을 나타냈으며 , key-hole, combination loop, T-loop 순이었다. 이들 모두 치아이동의 양상은 uncontrolled tipping을 나타냈다. 2. Asymmetrical TMA T-loop에서는 수평력이 현저히 감소하였으며, 절치부위에 함입력이 나타났다. 3. 절치부에서 torque의 증가에 따라 모멘트가 증가하였고, 선형적인 증가를 보였다. 4. 모멘트의 증가에 따라 치아의 초기 이동양상은 uncontrolled tipping에서 치근이동 양상으로 변화되었다.

• 대한치과교정학회지
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• 제24권2호
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• pp.479-508
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• 1994

This study was designed to investigate the reciprocal movement which was derived form application of active torque in ideal archwire by computer-aided three-dimensional finite element analysis of maxillary teeth and surrounding periodontal ligament composed of 2617 elements and 3725 nodes. Ideal archwire model was also made using the beam elements and the contact between the wire and the bracket slot was made using the gap element. In this study non-linear elastic behaviors of contact between the wire and the bracket slot were considered on. We put the active torque between the lateral and cenral incisor and between the second premolar and the first molar with/without cinch-back. The results were expressed by quantitative and visible ways. The findings of this study were as follows: 1. Reciprocal actions to active torque were complex system consisting of a combination of counter-torque, bucco-lingual linear displacement and tipping, rotation of the teeth, occluso-gingival linear displacement. 2. When active anterior crown labial torque was applied, crown labial tippings of the lateral were the greatest, and those of the central incisor was the next, Crown lingual tippings of the canine and the first premolar, mesial rotations and extrusion of the lateral and distal rotations and intrusion of the canine occurred. When anterior torque with the cinch-back was applied, amount of crown labial tippings of the lateral and central incisor were reduced. Amount of crown lingual tipping of the canine and the first premolar were increased. Mesial tippings and mesial rotations of the second molar occurred. 3. When active posterior crown lingual torque was applied, crown lingual tippings of the first moalr were the greatest, and crown labial tippings of the second premolar and the first premolar were the next, the crown lingual tipping of the second molar were a little. Mesial rotations of the second premolar occurred but those of the first premolar didn't occurred.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.597-600
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• 1994

A Robot system to realize a painting using a writing brush is explained here. Based on the three-dimensional data about the target china, the movements of the writing brush is determined. The movement is realized by the movement of two robot manipulators which move coordinatedly. Experimental results reveals the applicability of one system.

• 대한인간공학회지
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• 제20권2호
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• pp.83-97
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• 2001

Korea has become an aged society according to the UN specifications. The number of the aged population will increase drastically, and the number of single aged people will also increase. Products used in our daily life are manufactured within the normal capabilities of people. Thus, aged people have encountering problems in using them. Numerous products are used in our daily lives. The purpose of this study is to find the acceptable torque for aged people to open the caps of processed food containers. Depending on the size and shape of the opening hand, hand operation has been classified into three categories. A total of one hundred and nine people participated in this study. Fifty nine people in the 20-30 year old range and fifty people in their 60-70's. Results of the study are as follows: 1) For all categories the acceptable cap torque data for the aged people are established. To satisfy 95% of the aged people, it was found that $74N{\cdot}cm$ for type A caps, and $141N{\cdot}cm$ for B type caps. and $214N{\cdot}cm$ for type C were the acceptable torque levels. 2) The appropriate level of torque for opening the cap was found to be 70% of the maximum torque for the aged people.(71.4% for type A. 71.4% for type B. 72.2% for type C). 3) Capabilities of the 70's drops sharply in function related to opening cap (maximum torque, gripping force, and wrist movement range). 4) Among aged subjects, 65.0% for type A, 42.0% for type B, and 68.8% for type C, had difficulties in opening the container caps.

• 한국운동역학회지
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• 제31권1호
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• pp.30-36
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• 2021

Objective: The objective of the present study was to analyze the relationship between strength of the lower extremity's joints and their local dynamic stability (LDS) of gait in elderly women. Method: Forty-five elderly women participated in this study. Average age, height, mass, and preference walking speed were 73.5±3.7 years, 153.8±4.8 cm, 56.7±6.4 kg, and 1.2±0.1 m/s, respectively. They were tested torque peak of the knee and ankle joints with a Human Norm and while they were walking on a treadmill at their preference speed for a long while, kinematic data were obtained using six 3-D motion capture cameras. LDS of the lower extremity's joints were calculated in maximum Lyapunov Exponent (LyE). Correlation coefficients between torque of the joints and LyE were obtained using Spearman rank. Level of significance was set at p<.05. Results: Knee flexion torque and its LDS was negatively associated with adduction-abduction and flexion-extension movement (p<.05). In addition, ratio of the knee flexion torque to extension and LDS was negatively related to internal-external rotation. Conclusion: In conclusion, knee flexion strength should preferentially be strengthened to increase LDS of the lower extremity's joints for preventing from small perturbations during walking in elderly women.

• PNF and Movement
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• 제6권3호
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• pp.29-35
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• 2008

Purpose : To describes the important aspects of the foot and ankle movement and function used when git and balance strategy. Method : The foot and ankle was a very important roles in the lower limb movement and gait. This study summarizes the physiologic movement of knee to the PNF lower extremity patterns. Result : The ankle joint composed of the talocural joint, the subtalarl joint, transverse tarsal joint, talocalcaneonavicular joint. The onset of dorsiflexion muscle activity starts in pre swing gait patterns. First contract muscle is the extensor hallucis. Activity of tibialis anterior and extensor digitorum longus quickly follows in mid swing gait phase. During stance phase, the soleus and gastrocnemius muscle provided plantar flexor torque, which muscle reacts quickly to restrain ankle dorsiflexion, and contributes modulated control of the ankle motion in gait patterns. Conclusions : The understanding of ankle kinematics, could provide a good therapeutic approach for improving gait patterns in patients with various pathological condition.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 추계학술대회 논문집 학회본부
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• pp.336-339
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• 1990

The permanent magnet synchronous motor windings are energized by sinusoidal excitation current. The frequency of the winding excitation current is synchronous with motor movement and the phase is a function of the motor position with respect to the stator. The total operational speed range of the system is substantially incresed by controlling the phase of the excitation currents at a function of the desired speed. This becomes the torque angle between stator rotating field and motor position. In this paper, torque angle control method is described for surface permanent magnet synchronous motor (SPMSM). The control circuit for realizing control method is investigated and the system test is carried out.