• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.1823-1832
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• 2004

In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.

• The Journal of Information Systems
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• v.27 no.4
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• pp.97-114
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• 2018

Purpose Compliance support system (CSS) aims to support employees' voluntary compliance activities, however, it requires a different approach from the acceptance of other general information systems. In other words, the user's concern that his/her compliance activities recorded in the system are monitored may hinder the active use of the system. In this regard, we set up a research model to investigate the factors that affect the intention to use CSS, by including perceived usefulness, compliance commitment, and surveillance concern. Design/methodology/approach A questionnaire survey was conducted for the employees of a domestic oil-company, who operates their own CSS. Based on the 865 data collected, a structural model analysis using PLS was conducted. As a result, all four hypotheses were accepted. It was found that perceived usefulness of CSS has a positive effect on the intention to use CSS. Compliance commitment has a positive effect both on perceived usefulness and intention to use CSS. In contrast, surveillance concern of one's non-compliance recorded in the CSS was shown to have a negative effect on the relationship between compliance commitment and perceived usefulness. Findings This study has academic implications in that it extends the viewpoint of the existing technology acceptance mechanism by examining the two aspects, i.e., compliance commitment and surveillance concern. This study may also provide practical directions to strengthen the use of the active compliance support system by the employees.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.1
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• pp.1-7
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• 2003

In this paper, we discuss the control scheme on active compliance control of flexible manipulators. The active compliance control scheme is extended from the scheme for rigid manipulators. To illustrate the validity of the proposed control scheme, we show experimental results for the case when the end-effector is not moving and when it is moving while applying force. Although flexible manipulators show some problems of stability yet it is clear from these results that flexible manipulators are more effective to reduce damage of environment because of link flexibility than rigid ones.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.1
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1088-1094
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• 2006

In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.11 s.242
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• Journal of Periodontal and Implant Science
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• v.44 no.2
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• pp.65-70
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• 2014

Purpose: The purpose of this retrospective study was to evaluate the effect of patient compliance with supportive periodontal therapy (SPT) on tooth loss in Korean adults. Methods: The periodontal records of 134 patients were reviewed for this study. They completed active periodontal treatment from 1999 to 2001 and were placed on a schedule of periodic follow-up visits for SPT. Patient compliance was classified into complete compliance (CC), erratic compliance (EC), and noncompliance (NC) groups. Re-examinations were carried out $11.0{{\pm}}0.8$ years after the active periodontal treatment. The prognosis for each tooth was determined as good, questionable, or hopeless according to the bone loss observed in pretreatment radiographs. Results: The rate of tooth loss of the CC group was significantly lower than that of the NC group. The tooth loss/patient and the tooth loss/patient/year were not significantly different between the three groups. The rates of tooth loss in the good, questionable, and hopeless prognosis groups were 6.7%, 9.5%, and 13.2%, respectively. For the teeth with a good prognosis, the rate of tooth loss of the CC group was significantly lower than that of the NC group (0.4% vs. 5.1%). For the teeth with a questionable prognosis, the CC group showed a significantly lower rate of tooth loss than did the EC group (4.1% vs. 30.7%) or the NC group (4.1% vs. 25.6%). For the teeth with a hopeless prognosis, the rates of tooth loss were not significantly different among the three groups. Conclusions: Within the limits of this study, the patients who showed a poor compliance with SPT were more likely to lose teeth than were the regularly compliant patients. However, the risk of tooth loss with a hopeless prognosis was high irrespective of the compliance.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.323-331
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• 1997

A new probing mechanism and an active compliance control algorithm have been developed for the in-circuit test of a PCB( printed circuit board ). Commercially available robotic probing devices are incapable of controlling contact force generated through rigid probe contacts with a solder joint, at high speed. The uncontrollable excessive contact force often brungs about some defects on the surface of the solder joint, which is plastically deformable over some limited contact force. This force also makes unstable contact motions resulting in unreliable test data. To overcome these problems, we propose that a serially connected macro and micro device with active compliance provide the best potential for a safe and reliable in-circuit test. This paper describes the design characteristics, modeling and control scheme of the newly proposed device. The experimental results clearly show the effectiveness of the proposed system.

• Journal of Periodontal and Implant Science
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• v.39 no.2
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• pp.193-198
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• 2009

Purpose: The purpose of this study was to evaluate the compliance to maintenance schedules recommended supportive periodontal therapy(SPT) and to determine differences in the characteristics of compliant and non-compliant patients. Methods: 414 patients commencing SPT after active periodontal treatment from 2003 to 2005 were included in this study. Based on their compliance with the suggested maintenance schedule, patients were classified as compliant and non-compliant groups. Also patients classified by gender, age, degree of alveolar bone loss and treatment rendered. The association between compliance and patient characteristics was assessed by odds ratio in logistic regression analyses. Results: Only 47% of the initial patient was found to be compliant at the end of August 2008 and 20.8% patients were lost in the first year of SPT. There were significant differences between compliant and non-compliant regard to age, degree of alveolar bone loss and treatment rendered. Conclusions: In conclusion, compliance with SPT generally poor and patients who were older, treated surgical therapy and with mild alveolar bone loss are more compliant to SPT.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.