• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2402-2404
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• 2003

다중 로봇 시스템에는 multiple arms, 다족 보행, 다중 손 등이 있다. 이러한 시스템들은 여러 개의 부속체인 로봇들이 물체를 파지하는 특징을 지닌다. 그러나 이러한 적용분야에서 물체를 파지하는 내력에 대한 개념은 각각 다르게 해석되어져 왔음을 살펴볼 수 있다. 본 논문에서는 내력은 로봇 말단에서의 움직임에는 영향을 주지 않지만, 정적 평형을 이루며 내부적으로 작용하는 힘과 모멘트라고 정의 하였고, 이러한 개념이 현존하는 다중 로봇 시스템에 일반적으로 적용할 수 있음을 제시한다. 또한 최소 놈 해에 있어서 내력이 존재하지 않는 조건과, 내력을 구성하는 기저를 밝혔고, 다양한 다중 로봇 시스템의 내력 해석에 사용할 수 있음을 제시하였다.

• PNF and Movement
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• v.10 no.4
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• pp.71-76
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• 2012

Purpose : The purpose of this study was to examine the effects of PNF of irradiation using an indirect treatment of the stroke patient's static weight support and walking speed. Methods : Was carried out a total of nine different the PNF method of treatment for patients with left hemiplegia stroke. PNF of treatment is not in the non-paralyzed side of the trunk and upper and lower extremities by applying resistance and increased strength of the affected side. Assessment of treatment weight support both feet measured and modified using the timed up and go test were compared before and after treatment. Results : Treatment of the paralyzed side of the quadriceps and hamstring, gluteus medius muscle strength increased, and both sides of the foot body weight support improved walking speed was increased. Conclusion : Irradiation using PNF indirect treatment improves the function of the gait of stroke patients.

• Journal of the Korea Concrete Institute
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• v.16 no.2 s.80
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• pp.221-228
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• 2004

In recent years building floors become larger and more spacious due to the development of new design methods and high strength and light weight materials. However, such long span floor systems may provide smaller amount of damping and have a longer period so that they may be more vulnerable to the floor vertical vibration. In Korea when floors are to be checked against the floor vertical vibration, the provisions developed in foreign countries have been used. However these guidelines have been developed based on human perception, which may vary from country to country. Also, Korea have particular floor systems, such as flat plate floor system of apartment building. This study attempts to evaluate the vibration performance of the floors in typical apartment buildings. Two different floors with the area of $28 m^2$ and $32 m^2$ were investigated. The criteria provided by ATC-1(1999), AISC-11(1997), AIJ(1991) and the local criteria developed in the previous study(Han, 2003) was used to check the acceptability of the floor vertical vibration.

• Journal of Korea Entertainment Industry Association
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• v.15 no.7
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• pp.181-192
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• 2021

This study was conducted to investigate the effects of a participatory rehabilitation program on sit-rise and rise-to-walk test performances, and perception and motor skills in adults with medically vulnerable individuals and, adults with developmental disabilities in particular. Seventeen adults with developmental disabilities participated in a participatory rehabilitation program using resistance bands and exercise balls, for 60 minutes once weekly over 13 weeks. Their performances were measured before and immediately after the intervention, and 12 weeks after. The findings were as follows. In the sit-rise test, the number of times rising from sitting posture increased after the intervention versus before, but the difference was not statistically significant. In the rise-to-walk test, the performance showed statistically significant difference over time, and the post-hoc test showed a significant effect after the intervention versus before. There was no significant difference in perception and motor skills. In sum, the participatory rehabilitation program positively influenced dynamic balancing related to functional activities but had no significant effect on perception and motor skills, which is related to motor control and motor learning. It is suggested that to increase the participation in community activities, reduce fall risk, and improve dynamic balancing abilities in adults with developmental disabilities, participatory rehabilitation programs should be utilized to promote the physical wellbeing.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.9
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• pp.424-431
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• 2020

The purpose of this study was to investigate the effects of the Otago exercise program on physical function and risk of falling in elderly who have experienced falls. Thirty-six elderly people who had experienced falls more than once were randomly classified into an experimental group and control group. Each group exercised 30 minutes three times per week for a total of 8 weeks. Measurements were made using Tetrax to assess risk of falls. In addition, to measure physical function, static balance was measured using Biorescue, dynamic balance was measured using TUG, walking ability was measured using 10 MWT, and lower extremity strength was measured using FTSST. A paired t-test was conducted to verify the difference between before and after exercise in each group, and an independent t-test was performed for comparison between the groups. Regarding the experimental and control groups, static balance ability and dynamic balance ability increased significantly after exercise, and risk of falls decreased (p<.05). Lower extremity strength and gait ability increased significantly after exercise only in the experimental group (p<.05). Based on these results, the Otago exercise program is effective in improving physical function and reducing risk of falls in elderly people who have experienced falls.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• Journal of the Korean Society of Physical Medicine
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• v.15 no.3
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• pp.89-98
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• 2020

PURPOSE: This study investigated the effects of unilateral static stretching on the flexibility and symmetry of the lower leg, and temporal gait variables in gait asymmetry people. METHODS: Twenty gait asymmetry people were divided into a unilateral static stretching group (USG, n = 10) and control group (CON, n = 10). The USG performed unilateral static stretching for 60 minutes, three times a week, and eight weeks. The flexibility of the lower leg (SR), and symmetry (BR), and temporal gait variables (Step length; SL, gait speed; GS) were measured before, after four and eight weeks of unilateral static stretching. Moreover, SI (symmetry index; SI) was calculated from the measured SL value. Statistical analyses were conducted using one-way ANOVA and two-way ANOVA with repeated measures, a paired t-test, and multiple comparisons according to Scheffe. RESULTS: SR and BR in the dominant and non-dominant side, and GS were increased significantly at USG after eight-weeks compared to before unilateral static stretching (p < .05). The difference in BR in the dominant and non-dominant side, and step length (SI) decreased significantly at USG after eight-weeks compared to before unilateral static stretching (p < .05). CONCLUSION: Unilateral static stretching improves the flexibility and symmetry of the lower leg, and temporal gait variables in gait asymmetry people.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.51-51
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• 2017

정식기는 주로 노외에서 사용되므로 사용자에 따라 극심한 작업환경 하에 놓일 수 있다. 사용 중 정식기 호퍼에 토양이나 자갈, 돌 등에 의해 반복적인 하중이 가해지거나 순간적인 충격하중이 가해져 취약부가 파손될 가능성이 있으므로, 토양과 직접 맞닿는 삽날부의 경우 내구성을 고려한 설계/제작이 필수적이다. 본 연구에서는 보행형 반자동 정식기 개발에서 고추묘와 같은 초장이 긴 작물의 묘를 효과적으로 이식할 수 있도록 개선된 삽날에 대해 기존 삽날과 강도 및 강성을 비교하고, 그 결과가 삽날의 내구성에 미칠 영향에 대하여 고찰하였다. 실험에는 양날 개폐 방식의 기존 및 개선삽날 2종이 사용되었으며, 각각 3회씩 정적 강도를 평가하였다. 실제 정식기 사용시 하중이 가해지는 방향은 삽날에 수직한 방향의 압축하중으로 이를 모사하여 일정변위 속도로 삽날에 하중을 가하였으며, 시험 진행시 DAQ 시스템을 통해 실시간으로 하중 및 변위 데이터를 저장하여 시험 종료 후 해당 데이터를 이용하여 $P-{\delta}$ 선도를 도출하였다. 시험 결과 기존삽날의 평균 최대하중이 개선삽날에 비해 높은 것으로 나타났으며, 최대 하중이 나타나는 지점의 변위의 경우, 기존삽날이 개선삽날에 비해 짧게 나타났다. 정적 강도측면에서 개선삽날이 기존삽날에 비해 최대 강도가 낮은 것으로 판단할 수 있으나, 실제 호퍼의 내구성에 영향을 줄 수 있는 주요 인자는 반복적으로 가해지는 비교적 낮은 수준의 충격하중으로 볼 수 있다. 이러한 관점에서 볼 때 일정 수준 이상의 강도를 가지면서, 기존삽날에 비해 낮은 강성을 가지는 개선삽날이 변형을 통한 충격에너지 흡수로 오히려 삽날 조립체(호퍼)의 내구성 측면에서 유리할 수 있다. 따라서 향후에는 기존 및 개선삽날을 적용한 호퍼에 대해 피로시험을 수행하여 관련 내용을 실험적으로 검증하고자 한다.

• Journal of Hospice and Palliative Care
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• v.4 no.1
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• pp.14-25
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• 2001

Purpose : To determine whether there exist gender differences in pain in Korean cancer patients and whether the depression and performance that are often expressed differently between men and women with cancer interact with pain. Method : The results of survey were collected from 140 in- and out-patients (78 male and 62 female) who had cancer treatment at one of the university hospital in Seoul for four months from February of 1999. The severity and interference of pain were examined with the self-reported survey based on Korean version of Brief Pain Inventory (BPI-K). Demographic and clinical information for all patient were compiled by reviewing their medical records, and the level of depression was examined with the Korean version of Beck Depression Inventory (BDI-K). Usual statistical methods, e.g., frequences, means and SDs were used to characterize the sample. The chi-square tests for categorical data and t-test for numerical data were used for group comparison. And the correlation between variables were performed using Pearson correlation coefficient. Resuts : 1) The mean scores of the worst pain for last 24-hours measured with the pain severity of BPI-K were 5.77 in male and 6.45 in female. The pain interference of BPI-K in men was in the order of mood (5.49), enjoy (5.36), and work (5.00), and in women were work (7.48), enjoy (7.16), and mood (6.53). 2) In pain severity, significant difference was found between men and women in the average pain for last 24-hours (t=-2.130, P=.035). In pain interference, significant difference was found between men and women in activity (t=-2.450, P=.015), mood (t=-2,321, P=.022), walk (t=-2.762, P=.007), work (t=-4.946, P=.000), relate (t=-2.595, P=.010), sleep (t=-2.071, P=.040), enjoy (t=-3.198, P=.001). 3) It was found that the items of pain and depression are significantly correlated in men but not in women. Men also exhibited higher correlation in the items of pain and performance status than women. Conclusions : Women report significantly greater average pain for last 24-hours and for all items of pain interference than men. Pain and depression are significantly correlated in men. The results of this study suggest that gender differences in pain should be considered for planning effective pain management program.