• Science of Emotion and Sensibility
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• v.24 no.4
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• pp.129-138
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• 2021

This study aimed to determine the effects of the shape and attachment position of stretchable textile sensors coated with carbon nanotube on their performance when used to measure children's joint movements. Moreover, the child-safe requirements for fabric motion sensors are established. The child participants were advised to wear integrated clothing equipped with the sensors of various shapes (rectangular and boat-shaped) and attachment positions (at the knee and elbow joints or 4 cm below the joints). The voltage change induced by the elongation and contraction of the fabric sensors was determined for arm and leg flexion-extension motions at 60 deg/s (three measurements of 10 repeats each for 60°and 90°angles, for a total of 60 repetitions). Their dependability was determined by comparing the fabric motion sensors to the associated acceleration sensors. The experimental results indicate that the rectangular-shaped sensor affixed 4 cm below the joint is the most effective fabric motion sensor for measuring children's arm and leg motions. In this study, we designed a textile sensor capable of tracking children's joint motion and analyzed the sensor shape and attachment position on motion sensing clothing. We demonstrated that flexible fabric sensors integrated into garments may be used to detect the joint motions of the human body.

• Journal of the Korean Arthroscopy Society
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• v.8 no.2
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• pp.124-131
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• 2004

Purpose: To validate and introduce the technique of the arthroscopic repair for the treatment of the Subscapulris tendon tear. Materials and Methods: From April 2003 to April 2004, Arthroscopic repairs were performed in 8 patient with subscapularis tendon tear. The mean follow-up period was 11months. two cases involved only subscaplaris tendon tear. Four cases were associated small sized posterosuperir. rotator cuff tear and two cases were in large size. The type of subscapularis tendon showed upper portion full-thickness tear in 6 cases, partial-thickness tear localized at articular surface in 1 case, complete tear in 1 case. The results were analyzed by using subjective satisfaction, inferior movenent of superior displaced humeral head, Constant-Murley functional scoring Results: Constant-Murley scoring was improved from 55 point preoperatively to 75 point postoperatively following 11 months. Mean score was 71 point except 2 cases of large superoposterior rotator cuff tear, Most humeral heads were distaracted postoperatively. The subjective result for the 8 shoulders were very satisfying in 5 cases, satisfying in 1 case and dissatisfying in 2 cases. Therefore satisfactory results were noted in 6 cases (75%) of this overall treatment group. Conclusion: The arthroscopic repair for the subscapularis tendon tear is thought to be available method, which could reduce severe complications following the weakness of deltoid muscle and postoperative pain. Especially Partial Subscapularis tear not associated with superoposterior rotator cuff tear including PASTA lesion was the sutable indication of the Arthroscopic repair.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1256-1263
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• 2004

Output feedback passivation problem is studied when the given system is not minimum-phase or does not have relative degree one. Using a parallel connection with an additional dynamics, the authors provide a dynamic output feedback control law which renders the composite system passive. Sufficient conditions are presented under which the composite system is output feedback passive. As an application of the dynamic passivation scheme, a point-to-point control law for a flexible joint robot is presented when only the position measurements are available. This provides an alternative way of replacing the role of the velocity measurements for the proportional-derivative (PD) feedback law. The performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• The Journal of Korean Physical Therapy
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• v.17 no.4
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• pp.477-484
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• 2005

Purpose: The purpose of this study was to evaluate effect of Thera-Band stretching exercise on flexibility of shoulder joint. Methods: The research deign was a experimental pre-post control group design. Sixteen subject were randomly divided into two groups; experimental group(n=8) and control group(n=8). Experimental group performed Thera-Band PNF stretching for 4 weeks and control group was not performed. To compare with the effectiveness of Thera-Band PNF stretching between two groups, I measured flexibility of shoulder joint with an Apley scratch test. The data were analyzed by Independence T-test. Results: The experimental group was significantly increased the flexibility at the right and left shoulder internal rotation. But the experimental group was not significantly increased the flexibility at the right and left shoulder external rotation. Conclusion: These result suggest that home-based exercise programs with Thera-Band can serve as a practical and effective means of flexibility gains in general people.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.9
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• pp.1245-1247
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• 2014

This paper presents a robust position tracking controller for motor-driven flexible joint manipulators using only the motor angle measurement. The control problem is not easy because the link position is hard to estimate in the presence of parameter uncertainties. The proposed controller consists of a feedback linearization controller (FLC) and two proportional-integral observers (PIOs) that estimate both system states including the link position and an equivalent disturbance for compensating the parameter uncertainties. Comparative computer simulations are conducted to demonstrate the effectiveness of the proposed control algorithm.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.391-393
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• 1992

This paper proposes an adaptive control system using a 80286 microprocessor-based system and DC servo motors for the control of flexible joint manipulator. In this paper, we construct the controller based on a singular perturbation strategy damping out the elastic oscillations at the joints. we added to the controller the compensator for damping the joint and the term for decreasing the position error between the actuator and the link in order to improve the asymptotical convergence of the position of the link. It is shown that the implementation of this control algorithm can be practical.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.394-396
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• 1992

This note is concerned with the point to point control of manipulators having elastic joints. We present a PD control algorithm which is adaptive with respect to the gravity and elastic parameters of robot manipulators. While the conventional control law is used, a new adaptive law is used to improve the performance. The proposed controller is shown to be stable. It is Shown that steady-state position error converges to zero through some simulations concerning the manipulator with three revolute elastic joints.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.738-746
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• 1998

This paper presents a neural network-based adaptive controller for a single flexible-link. The control for feedback-error loaming of neural network is designed by using the re-definition approach. The neural network controllers are implemented on an single flexible-link experimental test-bed. The tip response is significantly improved and the vibrations of the flexible modes are damped very fast. Experimental and simulation results are presented of the proposed tip position tracking controllers over the conventional PD-type, passive controllers.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.347-347
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• 2000

Nowadays, the Laser image is used to realize multi-media show for events, an advertising media and 3D simulation, realization of video image and so on. It is a hot issue to realize the laser image like computer graphic image. The image used in laser projector is vector graphic image that is described by linking point to point. A computer makes this continuous vector graphic images so that the image shows as an animation. A control signal converted by a computer makes the laser projector draw image. Two motors and universal joint are used to realize 2D laser image in this study. Developing a controller applied Look-ahead algorithm and software to interface with personal computer, This study is the chief aim of improving difference of moving velocity that is appeared from edge of vector graphic image and disparity of graphic density.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.