Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-22T04:52:26Z | - |
dc.date.available | 2023-05-22T04:52:26Z | - |
dc.date.issued | 2012-08 | - |
dc.identifier.citation | Mechanism and Machine Theory, v. 54, Page. 76-98 | - |
dc.identifier.issn | 0094-114X | - |
dc.identifier.uri | https://www.sciencedirect.com/science/article/pii/S0094114X12000742?via%3Dihub | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/181052 | - |
dc.description.abstract | Adjustable springs have been employed in robotic applications including physical interaction with humans or the environment. In this paper, planar multi-degree-of-freedom spring mechanisms with adjustable springs are investigated from a viewpoint of stiffness. We propose multi-degree-of-freedom biomimetic spring mechanisms inspired by the musculoskeletal structure of the human upper-extremity, which possesses highly nonlinear kinematic coupling among redundant muscles within its structure. The stiffness characteristics in the operational space of the proposed and conventional mechanisms with torsional springs are analyzed. The stiffness solution of springs for a certain workspace is given and the applicability of these mechanisms is verified through simulation. (C) 2012 Elsevier Ltd. All rights reserved. | - |
dc.description.sponsorship | This work is supported by the Technology Innovation Program (10040097) funded by the Ministry of Knowledge Economy(MKE, Korea), supported by GRRC program of Gyeonggi Province (GRRC HANYANG 2011-A02), and financially supported by the Ministry of Knowledge Economy (MKE) and Korea Institute for Advancement in Technology (KIAT) through the Workforce Development Program in Strategic Technology. | - |
dc.language | en | - |
dc.publisher | Pergamon Press Ltd. | - |
dc.subject | Adjustable spring | - |
dc.subject | Stiffness analysis | - |
dc.subject | Kinematics | - |
dc.subject | Mechanism design | - |
dc.subject | Force redundancy | - |
dc.subject | Musculoskeletal structure | - |
dc.title | Adjustable spring mechanisms inspired by human musculoskeletal structure | - |
dc.type | Article | - |
dc.relation.volume | 54 | - |
dc.identifier.doi | 10.1016/j.mechmachtheory.2012.03.012 | - |
dc.relation.page | 76-98 | - |
dc.relation.journal | Mechanism and Machine Theory | - |
dc.contributor.googleauthor | Lee, Jae Hoon | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.contributor.googleauthor | Lee, Ji Yeong | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 전자공학부 | - |
dc.identifier.pid | bj | - |
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