• The Journal of Korean Orthopaedic Ultrasound Society
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• v.1 no.1
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• pp.18-22
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• 2008

A ganglion cyst contains clear high viscous fluid within dense fibrous connective tissue wall communicating with joint or tendon sheath, but is not frequent around the knee joint. A hard mass at the medial side of the knee joint of the 73 years old woman, mimic to hard tumor mass was diagnosed as the ganglion using ultrasonography. Ultrasonography was a useful diagnostic tool of the cystic lesion although the consistency of the mass was hard enough to be suspected as a tumor mass.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.631-638
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• 2012

This work proposes a new method to generate velocity profile of a traction motor equipped in a rehabilitation system for knee joint patients through humanoid robot simulation. To this end, a three-dimensional full-body humanoid robot model is newly constructed, and natural human gait is simulated by applying to it reference joint angle trajectories already published. Linear velocity is derived from distance data calculated between the positions of a thigh band and its traction motor at every sampling instance, which is a novel idea of this paper. The projection rule is employed to kinematically describe the humanoid robot because of its high efficiency and accuracy, and measured joint trajectories are used in simulating human natural gait referring to Winter's book. The attained motor velocity profile for a certain position in human body will be applied to our walking-assistance system which is implemented with a treadmill system.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.11
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• pp.1243-1248
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• 2011

The purposes of this study were to develop a dynamic model of a human and to investigate the effect of a walker on an elderly subject's motions, such as sit-to-stand (STS) motion and normal gait, by using this model. A human model consisting of 15 segments and 14 joints was developed, embedded in $RecurDyn^{TM}$, and connected through a Simulink$^{(R)}$ interface with collected motion data. The model was validated by comparisons between joint kinematic results from inverse dynamics (Matlab$^{(R)}$-based in-house program) and from $RecurDyn^{TM}$ simulation during walking. The results indicate that the elderly walker induced a longer movement time in walking, such that the speed of joint flexion/extension was slower than that during a normal gait. The results showed that the muscle activities of parts of the ankle and hamstring were altered by use of the elderly walker. The technique used in this study could be very helpful in applications to biomechanical fields.

• Physical Therapy Korea
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• v.10 no.4
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• pp.1-15
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• 2003

본 연구는 슬관전 신전 직전에 수행된 선행 슬관절 굴곡이 슬관절 신전근의 최대 근력발생 및 근육 활성도(activation)에 미치는 영향을 알아보기 위하여 실시되었다. 16명의 정상인이 Cybex II 등속운동기구에서 3가지 다른 운동 속도($100^{\circ}/s$, $200^{\circ}/s$, $300^{\circ}/s$)와 2가지 다른 근육 활성 조건(선행부하가 없는 조건과 선행부하 조건)에서 슬관절의 최대 신전을 수행하였다. 연구대상자들에게 선행부하 없는 조건에서는 $90^{\circ}$ 슬관절 굴곡 상태에서 $0^{\circ}$까지 최대 신전을 수행하도록 하였고, 선행부하 조건에서는 구심성 슬와부 근육의 구심성 수축으로 $0^{\circ}$에서 $110^{\circ}$까지 굴곡한 후, 다시 $0^{\circ}$까지 최대 신전을 하도록 요구하였다. 종속변인으로는 내측광근과 외측광근의 최대 근전도와 최대 신전근력을 측정하였다. 실험 결과 최대 근전도와 최대 근력 모두 선행부하 조건에서 높게 나타났으며, 운동 속도가 증가함에 따라 최대 근력은 감소하는 전형적인 최대 근력-운동속도 상관법칙이 본 실험에서도 나타났다. 또한 운동속도와 전환속도 간의 간섭이 없는 것으로 나타나, 슬관절 신전근에 선행부하(preloading)를 가하는 것이 최대 근력-운동속도 상관법칙(force-velocity relation)에 영향을 미치지 못하는 것으로 해석되었다. 선행부하로 인해 증가된 최대 근력 및 근 활성도의 증가는 주로 신경촉진에 의한 것으로 해석된다.

• Proceedings of the Korea Contents Association Conference
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• 2011.05a
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• pp.263-264
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• 2011

본 연구에서는 한국인 표준체형과 유사한 사람의 의료 영상 자료를 이용하여 인체 골격계 모델을 개발하였다. 이를 동역학 해석 상용 소프웨트어인 RecurDynTM에 탑재하여 인체 시뮬레이션 모듈을 개발하였고 타당성을 검증을 거친 후 노인의 앉기-서기 및 보행 동작해석에 적용하였다. 노인이 보행기(elderly walker)를 사용하여 앉기-서기 동작을 할 때 하지관절 기구학의 변화는 미비하였으나 보행 시 각 관절의 가동범위가 감소하였고 동작시간이 증가하였다. 또한 근전도 해석결과 일부 발목 주변 근육들과 햄스트링 근육에서 근활성치가 줄거나 활성시간이 줄었다. 이러한 변화는 보행기를 이용한 보행 때 하지의 기여도가 감소했기 때문에 발생하는 현상으로 생각된다. 본 연구를 통해 얻어진 시뮬레이션 기술은 다양한 인체 정보 콘텐츠분야에 널리 활용될 것으로 생각된다.

• Journal of Biomedical Engineering Research
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• v.20 no.3
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• pp.315-321
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• 1999

The purpose of this study is to develop a mathematical model for system identification in order to predIct muscle force based on eledromyographic signal. Therefore, a finding of the relalionship between characteristics of electromyographic signal and the corre spondng muscle force should be necessiiry through dynamic, joint model. To develop the dynamic joint model, the upper limb mcludmg the wrist and elbow joint has been considered. The kinematic and dynamic data, such as joint angular displacement, velocity, deceleration along with the moment of inertla, required to establish the dynamic model has been obtained by electrical flexible goniometer which has two degree-of-frcedoms. ln this model, muscle force can be predicted only electromyographs through the relationship between the integrated lorce and the mtegrated electromyographic signal over the duration of muscle contraclion in this study.

• Journal of Biomedical Engineering Research
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• v.23 no.3
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• pp.171-179
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• 2002

It is well known that the geometry of the articular surface plays a major role in the kinematic and kinetic analysis to understand human knee joint function during motion. The functionality of the knee joint cannot be accurately modeled without considering the effects of sliding and lolling motions. We Present a 3-D human knee joint model considering sliding and rotting motion and major ligaments. We employ more realistic articular geometry using two cam profiles obtained from the extrusion of the sagittal Plain view of the representative Computerized Tomography image of the knee joint compared to the previously reported model. Our model shows good agreement with the already reported experimental results on Prediction of the lines of force through the human joint during gait. The contact point between femur and tibia moves toward the Posterior direction as the knee undergoes flexion, reflecting the coupling of anterior and Posterior motion with flexion/extension. The anterior/posterior displacement of the contact Point on the tibia plateau during one gait cycle is about 16 mm. for the lateral condyle and 25 mm. for the medial condyle using the employed model Also. the femur motion on the tibia undergoes lateral/medial movement about 7 mm. and 10 mm. during one gait cycle for the lateral condyle and medial condyle. respectively. The developed computational model maybe Potentially employed to identify the joint degeneration.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.2
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• pp.267-274
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• 2010

In this paper, the structure of a gravity compensator was studied, and the 6-axis robot manipulator which is newly developed by applying the gravity compensator is presented to improve the torque performance of the robot joint. The kinematics analysis on the robot was presented. Also, a simulation of the performance of the joint actuator of robot adopting the gravity compensator was presented by applying various springs. According to the simulation results, it was validated that the payload effect on the robot joint actuator adopting the gravity compensator is reduced in proportion to the spring intensity of the gravity compensator.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.1-7
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• 2014

Recent experimental observations support the hypothesis that mechanical stimuli play a role in regulating the specialized molecular expression of articular cartilage in vitro and in vivo. Other studies have demonstrated that the continuous passive motion(CPM)bioreactor for whole joints can provide a platform for possible future in vitro studies and applications, including possible interactions of bio-mechanical and biochemical signals. In this study, we have developed acustom-made bioreactor capable of bending and stretching with circular type motion, and a biomimetic knee joint model, using a 3D printer. This system could be used to investigate the effects of rehabilitative joint motion of dynamic culture.