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문영진,Scott Arthur Banks 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
This paper presents a single degree of freedom suspension system to assist small six degree of freedom robots manipulating heavypayload. The goal of the system is to reduce the load applied to the last link of a robot manipulating a payload that is heavier thanthe robot’s specified allowable load capacity. An assistive suspension system was implemented to realize vertical-only motion of therobot. A mathematical model was derived, and a proportional-integral-derivative controller with an inner velocity loop was designed. Variable parameters in the model such as friction coefficients were identified in an experiment on the voltage input and velocityoutput. To determine how much the assistive system reduces the load on the robot, the system was connected to the robot using aninterface attached with magnets and a force sensor was fixed to the last link of the robot. In the experiment, the cable tension wasmeasured and controlled to satisfy the design preference for the assistive system to be stand-alone, rather than relying on force sensoron the robot. The experiment was performed using various control gains under different conditions, such as the periods of inputmotion and payload weight. The results showed that the system could reduce 3.8 and 6.0 kg payloads on the robot to 50% and 40%,respectively.
김상균,김소영,김두섭,염준섭,이세용,Scott A. Banks 한국체육학회 2019 International journal of human movement science Vol.13 No.2
We aimed to identify 3D motion differences in knee joint articular surface kinematics in healthy young and old participants during weight-bearing knee flexion. Twelve healthy male volunteers, six in their 60s and six in their 20s, without any musculoskeletal system disease involving the knees participated. 3D bone models of the femur and tibia were obtained using CT and matched into the fluoroscopic images captured during split squatting. Translation and rotation of the tibia to the femur during weight-bearing flexion were compared between the groups. Translation of the nearest medial-lateral articular surface location and rotational angle of medial-lateral connecting lines were also compared. As the tibial internal-external rotation angle and medial contact point anterior-posterior translation were significantly correlated between the groups, they could not represent the characteristics of age-related changes. Similar to lateral contact point translation and contact points line angles were significantly different during the initial 10° flexion period. At the 40°-45° knee flexion period, a significant difference was detected in the contact point line angle and in the tibial superior-inferior translation. 3D knee joint kinematic differences between participants in their 20s and 60s, especially during initial and 40°-45° periods, can predict kinematic effects on age-related disease.
( Sanggyun Kim ),( Soyoung Lee ),( Doosup Kim ),( Junseop Yeom ),( Sae Yong Lee ),( Scott A. Banks ) 한국체육학회 2019 International journal of human movement science Vol.13 No.2
We aimed to identify 3D motion differences in knee joint articular surface kinematics in healthy young and old participants during weight-bearing knee flexion. Twelve healthy male volunteers, six in their 60s and six in their 20s, without any musculoskeletal system disease involving the knees participated. 3D bone models of the femur and tibia were obtained using CT and matched into the fluoroscopic images captured during split squatting. Translation and rotation of the tibia to the femur during weight-bearing flexion were compared between the groups. Translation of the nearest medial-lateral articular surface location and rotational angle of medial-lateral connecting lines were also compared. As the tibial internal-external rotation angle and medial contact point anterior-posterior translation were significantly correlated between the groups, they could not represent the characteristics of age-related changes. Similar to lateral contact point translation and contact points line angles were significantly different during the initial 10° flexion period. At the 40°-45° knee flexion period, a significant difference was detected in the contact point line angle and in the tibial superior-inferior translation. 3D knee joint kinematic differences between participants in their 20s and 60s, especially during initial and 40°-45° periods, can predict kinematic effects on age-related disease.