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XueJun Jin,Dae Ik Jun,Xuemei Jin,Sukho Park,Jong-Oh Park,Seong Young Ko 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Nowadays robotic technology is widely used in rehabilitation especially in stroke rehabilitation. Comparing conventional robots, cable-driven parallel robots have many advantages such as low moving inertia, high power efficiency, large workspace, low cost, and so forth. On this account, three-degree-of-freedom (3-DOF) cable-driven parallel for upper limb rehabilitation is currently under development. This paper presents motion analysis of upper limb to design a 3-DOF upper limb rehabilitation robot. Main feature of this rehabilitation robot is to provide the relatively large workspace and to be less dangerous in the situation of robot’s malfunction due to reduced moving part. Since our rehabilitation is being designed to have a planar workspace, the motion of upper limb is also analyzed in a plane.
뉴턴-랩슨 방법을 이용하여 평면형 병렬형 케이블에 대하여 기초 교정 진행
Jin XueJun,고성영,박석호,박종오 한국기계기술학회 2015 한국기계기술학회 학술대회논문집 Vol.2015 No.03
This paper presents using Newton-Raphson method calibration for planar cable robot. In cable robot there are three big error issue which are geometric error and and modeling error and non-geometric error, in this paper we just focus on first two issue. Using MATLAB simulation we found minimum of 8 pose we have to use in calibration equation and the initial vale can decrease of the iteration.
Jin Xuejun,정진우(Jinwoo Jung),전종표(Jong Pyo Jun),박석호(Sukho Park),박종오(Jong-Oh Park),고성영(Seong Young Ko) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.11
This paper proposes a calibration algorithm for a three-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). To evaluate the proposed algorithm, we calibrated winches and an optical tracking sensor, measured the end-effector pose using the optical tracking sensor, and calculated the accurate robot configuration using the measurement information. To conduct an accuracy test on the end-effector pose, we followed guidelines from “Manipulating industrial robots - Performance criteria and related test methods.” Through the test, it is verified that the position accuracy can be improved by up to 20% for a 2m × 2m-sized planar cable robot using the proposed calibration algorithm.
Four-cable-driven parallel robot
XueJun Jin,Dae Ik Jun,Andreas Pott,Sukho Park,Jong-Oh Park,Seong Young Ko 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental tests using an implemented prototype have shown the feasibility of the system design and its operation.
Xiang Xu,Yu-Nan Lu,Jia-Hui Cheng,Hui-Wen Lan,Jing-Mei Lu,Guang-Nan Jin,Guang-Hua Xu,Cheng-Hua Jin,Juan Ma,Hu-Nan Piao,Xuejun Jin,Lian-Xun Piao 고려인삼학회 2022 Journal of Ginseng Research Vol.46 No.1
Background: Maternal Toxoplasma gondii (T. gondii) infection during pregnancy has been associated with various mental illnesses in the offspring. Ginsenoside Rh2 (GRh2) is a major bioactive compound obtained from ginseng that has an anti-T. gondii effect and attenuates microglial activation through toll-like receptor 4 (TLR4)/nuclear factor-kappa B (NF-kB) signaling pathway. GRh2 also alleviated tumor-associated or lipopolysaccharide-induced depression. However, the effects and potential mechanisms of GRh2 on depression-like behavior in mouse offspring caused by maternal T. gondii infection during pregnancy have not been investigated. Methods: We examined GRh2 effects on the depression-like behavior in mouse offspring, caused by maternal T. gondii infection during pregnancy, by measuring depression-like behaviors and assaying parameters at the neuronal and molecular level. Results: We showed that GRh2 significantly improved behavioral measures: sucrose consumption, forced swim time and tail suspended immobility time of their offspring. These corresponded with increased tissue concentrations of 5-hydroxytryptamine and dopamine, and attenuated indoleamine 2,3-dioxygenase or enhanced tyrosine hydroxylase expression in the prefrontal cortex. GRh2 ameliorated neuronal damage in the prefrontal cortex. Molecular docking results revealed that GRh2 binds strongly to both TLR4 and high mobility group box 1 (HMGB1). Conclusion: This study demonstrated that GRh2 ameliorated the depression-like behavior in mouse offspring of maternal T. gondii infection during pregnancy by attenuating the excessive activation of microglia and neuroinflammation through the HMGB1/TLR4/NF-kB signaling pathway. It suggests that GRh2 could be considered a potential therapy in preventing and treating psychiatric disorders in the offspring mice of mothers with prenatal exposure to T. gondii infection.