• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.6 no.2
• /
• pp.300-308
• /
• 2002

This paper deals with the remote control of a quadruped robot by using network concept. In case we have to work out the designed plan under the irregular terrains and have the human friendly actions,. our robot will be required to have walking capability, and patterns with legs, which are designed like gaits of insert, dog and human. Our quadruped robot(called SERO) has not only the basic actions operated with sensors and actuators but also the various advanced walking trajectories, which are generated by Genetic Algorithm In addition, it has the remote controller in order to operate the remote actions such as generation of command via web browser and monitoring the robot status. In this paper the body and the controller structures are suggested and the results of kinematics analysis are also presented, All of the suggested motions of SERO are generated by PC simulation and implemented in real environment successfully.

• Journal of the Korean Arthroscopy Society
• /
• v.9 no.1
• /
• pp.56-59
• /
• 2005

Trans-posterior septal posterior arthroscopic portals are useful in performing arthroscopic diagnosis and treatment of the lesions located in posterior aspect of knee joints. Except inferior surface of posterior horn of lateral meniscus, we easily observed entire lateral compartment, especially inferior surface of anterior horn and lateral tibial condyle by figure of 4 position through posteromedial trans-posterior septal arthroscopic portal. And it was possible to obtain visual field from posterior aspect and we could use anteromedial and anterolateral portals for instrumentation without clouding. So, this procedure may be useful in performing surgery of lateral compartment especially, anterior aspect in the knee joints.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.285-292
• /
• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• The Journal of Korean Physical Therapy
• /
• v.26 no.5
• /
• pp.290-295
• /
• 2014

Purpose: The purpose of this study was to assess the effects of robo-horseback riding with changes of pelvic tilting and speeds on muscle activities of trunk and lower limb in healthy adults. Methods: Thirty healthy adults were recruited for this study. Subjects performed robo-horseback riding at three pelvic postures (anterior tilting pelvic posture: AP, neutral pelvic posture: NP, posterior pelvic posture: PP) and different speeds (moderate and fast speed). Muscle activities were recorded from the trunk muscles (rectus abdominis [RA], T2 paraspinalis [T2 PS], L2 paraspinalis [L2 PS]) and lower limb muscles (rectus femoris [RF], vastus medialis [VM], vastus lateralis [VL], biceps femoris [BF], gastrucnemius [GCM]). Results: Significantly higher RA activities were observed under the PP condition than under the AP and NP conditions at both speeds. Significantly higher L2 PS activities were observed under the AP condition than under the PP and NP conditions at both speeds. Significantly higher T2 PS activities were observed under the AP condition than under the PP and NP conditions at fast speed. However, the muscle activities of the VM and GCM did not show significant changes with changes in pelvic posture at both speeds. All muscle activities were significantly higher under the fast speed than under the moderate speed in three pelvic postures. Conclusion: There were significant differences in the changes of pelvic tilting on muscle activities of trunk and lower limb were observed in healthy adults. NP condition can be introduced the most efficienct posture for muscle activities of trunk and lower limb in robo-horseback riding.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.4
• /
• pp.41-47
• /
• 2008

The purpose of this study was to provide foundations for proper stretching method not to lose muscle strength caused by shrink of muscle for preventing injury and improving performance when we make training programs. This study compared and analyzed isokinetic variables related to the static stretching frequency of knee joint extensor by isokinetic instruments applied to normal adults. 45 normal adults are randomly sampled into 3 different groups. All the measured variables were processed with SPSS and, means and standard deviations at each angle speed were calculated. The difference of means between before and after stretching of each groups were processed by paired t-test. One-way ANOVA and after test(Duncan) This study was able to see that stretching decrease acute isokinetic muscle strength High frequency stretching group showed more efficient decrease of muscle strength than low frequency stretching group. As a result, making training program for a game requiring strong muscle strength should consider proper stretching method not to lose muscle strength.

• Journal of the Korea Society for Simulation
• /
• v.20 no.1
• /
• pp.51-59
• /
• 2011

This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.12 no.1
• /
• pp.1-9
• /
• 2018

This study is intended to identify how horseback riding affect the bone density of the elderly. A total of 31 normal senior citizens participated in the research, who were randomly divided into two groups: 15 in horseback riding exercise group and 16 in horseback riding machine exercise group. A horseback riding exercise program was carried out for 25 minutes twice a week for 12 weeks. A pre-test was conducted before starting the program and two post-tests were conducted 6 weeks and 12 weeks after exercises in the same way as the pre-test. Measured items were bone density of lumbar vertebrae and femur. In order to identify the changes in measurement variables before exercises and 6 weeks and 12 weeks after exercises, two-way repeated analysis of variance were used. The comparison of changes in the bone density in both groups revealed that there were significant differences in lumbar vertebrae L3, L4, femur trochanter in both groups over time. This study suggests that three-dimensional movements of horses through horseback riding exercises induce normal movements of senior citizens, providing positive effects on their bone density. If appropriate horse riding exercise programs are used considering the health status, time and economic conditions, and preferences of senior citizens, it would improve their quality of life.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.6
• /
• pp.2773-2779
• /
• 2013

The purpose of this study was to evaluate of the usefulness and to develop new auxiliary equipment that can bending angle of the bone of the knee various depending on the thickness of the thigh of the human. The subjects agreed for research purposes and were selected from normal person who do not have past knee-related diseases and grouped thin group A and thick group B for the thigh. We set in order to obtain images in the axial direction of the bones of the knee, $35^{\circ}$ to increase by $5^{\circ}$ angle of knee flexion, $45^{\circ}$, to $55^{\circ}$, and we performed combinations of 9 tests by incident angle X-ray per each angle, $40^{\circ}$, $50^{\circ}$ and $60^{\circ}$. As a result, we have developed an Merchant auxillary equipment of X-ray table integral type in radiographic images which was easy to use and could take images of various integral knee joint angles adjusting different body types. Using the auxiliary equipment, in the case of X-ray incident angle $50^{\circ}$ and $60^{\circ}$ with the knee flexion angle of $40^{\circ}$ in group A, and in group B, Knee flexion angle of $45^{\circ}$ and $35^{\circ}$, the X-ray incident angle at $60^{\circ}$, excellent images were derived. Future, it would be very useful in the examination of patients with a variety of body types.

• Food Science of Animal Resources
• /
• v.22 no.1
• /
• pp.1-7
• /
• 2002

Changes of the fatty acid, amino acids and collagen contents in domestic broiler chickens of different marketing standard range from 5ho to 16ho were assessed. There were no significant trend in total ratios of saturated fatty acids and unsaturated fatty acids between breast samples taken from chicken in different weight ranges. The n6 fatty acids/n3 fatty acids decreased as weight ranges decreased and the ratio was decreased down to 5:1. Eicosapentaenoic acids(EPA) were detected from chicken in 10ho and tended to increase thereafter. The contents of EPA were 0.43% in 15ho. Docosahexaenoic acid(DHA) were detected from chicken in 14ho and DHA contents of breast taken from 15ho chicken were 0.94%. The contents of glutamic acids were 2.94∼3.59% and they increased as chicken weight increased. The collagen contents were higher in thigh than breast or wings. The results from this experiments will provide a basic information for establishment of marketing standard of chicken.