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최형식(H. S. Choi),김동현(D. H. Kim),강동완(D. W. Kang) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
In this paper, for moving heavy object a new type of human-sized Biped Walking Robot, KUBIR2, driven by the closed-chain type of joint actuator was developed Kubir2 is totally composed of29 degree-of-freedom as head is 4 d.o.f, arms are 12 d.o.f, legs are 12 d.o.fand waist is 1 d.o.f. The weight of the robot is 75(Kg) with 160㎝ tall, but the robot is designed to be capable of supporting 120Kg. The weight of one arm is light enough to be 9kg but capable of delivering 10㎏ load. Linear movement of joint actuators is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. The control system of the robot is developed by using embedded computer and TMS320LF2407 DSP microprocessors. Each joint actuator is controlled by using DSP microprocessors. The communication system between the main controller and joint controllers is developed using the CAN communication system. The performance of the developed robot was validated through walking experiments with supporting 15(㎏) load.
3-Dimensional reconstruction of the condylar and mandibular movements by a new noninvasive system
Kang, D. W.,Lim, S. L.,Kim, Y. L. 朝鮮大學校 口腔生物學硏究所 1991 口腔生物學硏究 Vol.15 No.-
Purpose of this work was to analyze the condylar and mandibular movements by developing a computer based system for fully automatic motion analysis based on a geometrical method in three dimentions. This system is composed two CCD TV cameras and dedicated hardware that analyzes in real time the TV image of 9 passive markers located on the subject's face during their motion : the data are elaborated using an AT IBM personal computer which controls the simultaneous acquisition of analog signals and the three dimensional reconstruction of the markers. This system shows the three dimensional reconstruction of the condylar and mandibular movement with a great accuracy and repetibility during opening and closing, protrusive and laterotrusive movements and their time's function, speed and acceleration are possible. Therefore, this method will be providing an opportunity to obtain more information about TMJ biomechanics in normal subjects and in patients with joint dysfunctions.