• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.769-771
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• 2000

In this paper, pattern recognition scheme for EMG signal using artificial neural network is proposed. For manipulating ability, the movements of human arm are classified into several categories EMG signals of appropriate muscles are collected during arm movement. Patterns of EMG signals of each movement are recognized as follows: 1) The features of each EMG signal are extracted. 2) With these features, the neural network is trained by using feedforward error back-propagation (FFEBP) algorithm. The results show that the arm movements can be classified with EMG signals at high accuracy.

• 로봇학회논문지
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• 제15권2호
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• 복식문화연구
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• 제13권3호
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• pp.439-451
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• 2005

This study was to provide the fundamental data for the ease necessary to design clothes by investigating the variation of the upper body surface with the method of surgical tape. The subject were 8 young women in the standard somatotype. In the form of body surface according to arm movements, the shape of armscye circumference became gentle from the sunken form for the standing posture; scye depth became lower; lateral shoulder moved and rose toward the front center as the angle of arm movement became larger; scye depth is greatest in the standing. The items of horizontal ware largest in the standing posture except for front neck base circumference and front interscye breadth for side $90^{\circ}$ movement. In the items of vertical, while most of the front items increased but back ones generally decreased for all movement compared to the standing. After comparing differences in actual values between the form of body surface in the standing posture and the direct measurement, the following ease were suggested considering minimum measures to accommodate daily movements. Bust circumference/2 = 3cm; waist circumference/2 = 1.5cm; front interscye breadth/2 = 0.6cm; back interscye breadth/2 = 0.6cm; and underarm depth = 1.5cm

• 한국의류산업학회지
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• 제8권2호
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• pp.209-213
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• 2006

The 3-D information is useful as basic data which has been utilized in the development of simulating technology as fit-simulation. The experiment is designed to take some useful data on the variant shapes which contribute in simulating the adaptability of the clothes. The general figure of the clothes are made after the figure of the basic standing posture of the human body. The shape of the clothes fits with kinetic characteristic of the human body as the form of the clothes gets twisted, the ease of the clothes changes, and the clothes itself expands. We studied the dressed shapes of blouse according to two types of the arm movement(basic posture and reach forward) and three types of clothes(foundation, blouse with short sleeves and sleeveless) in the sit-down-posture. We accomplished some experimental data on three-dimensional measurement of the dressing shapes using TDS-3100 3-D scanner made in Japan PULSTECH. It is considered that the variant of shapes and distribution of gaps in the dressed shapes of blouse are determined by the adaptability of clothes made in arm movement.

• 한국전문물리치료학회지
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• 제16권1호
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• pp.70-78
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• 2009

This study was designed to examine a 3-week modified constraint-induced movement therapy (CIMT) to the less-affected arm of patients with Parkinson's disease (PD) would improve function of the more-affected arm in PD. The subjects were 6 institutional older adults with PD and clients of the social welfare facilities. The subjects (2 men, 4 women) ranged in age from 66 to 90 years (mean age 77.2 yrs). Three clinical tests were used to determine the improvement of functional activity between before and after modified CIMT. The tests included Unified Parkinson's Disease Rating Scale (UPDRS). Wolf Motor Function Test (WMFT), and Action Research Arm Test (ARAT). There were significantly differences after the modified CIMT for time performance in WMFT and pinch in ARAT (p<.05), No significant difference was noted after the modified CIMT for UPDRS and functional ability scale in WMFT. Therefore, the modified CIMT might improve time performance and is available to therapeutic program helping them improve functional ability for upper extremity in Parkinson's disease.

• International Journal of Human Ecology
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• 제13권1호
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• pp.117-128
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• 2012

This study compares the net effect of wearing different shoulder/arm armor systems on garment impediment perception and wearer acceptability. Two independent variables in this study were armor systems and shoulder/ arm movements. There were four armor systems of control garment and arm armor systems A, B, and C as well as five types of arm/shoulder movements, (shoulder flexion, should extension, shoulder abduction, shoulder horizontal flexion, and shoulder horizontal extension). Ten male volunteers wearing size medium battle dress uniform (BDU) with recent relevant military experience participated in this study. The volunteers performed shoulder/arm movements (while wearing each armor treatments) and completed the garment impediment perception as well as wearer acceptability scales. The body areas of neck side, shoulder top, and armscye front showed the highest frequency of reported impediments. Resistance to movement and localized pressure were the most frequently mentioned types of impediment. The armor system B had the most areas of impediment, and was rated as more restrictive than the control garment and armor system A for each movement. For wearer acceptability, no significant differences were found between the control garment and armor system A for all eight items; this indicated that subjects did not perceive a difference between wearing the control garment and armor system A. There was a trend for wearer acceptability to decrease from wearing the control garment to armor systems A to C to B.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 산업기술연구
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• 제28권A호
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• pp.75-80
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• 2008

This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. This is a new robot for arm therapy applicable to the training of activities of daily living in homes and clinics. This instrument has one degrees of freedom, and is equipped with position and force sensors. Repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. The new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.

• 한국시뮬레이션학회논문지
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• 제1권1호
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• pp.55-63
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• 1992

This paper presents a simulation based analysis of a service robot operating in a robot-centered FMC, in which the robot is located at the approximate center of the cell and the machines are arranged in a partial circle around it. The robot's function is to locate and service the parts which require a series of unloading, moving, and loading operations. The main purpose of the analysis is to determine the best movement decision for the robot's arm in each instance. The results from the study, based on both statistical and nonstatistical analysis suggest the best policy for the robot's arm's movement that holds promise for application to the robot-centeredFMC.

• 재활치료과학
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• 제2권2호
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• pp.5-20
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• 2013

강제유도 운동치료는 2주간 건측의 사용을 억제하기 위해 깨어 있는 시간의 90%를 제한하는 동시에 환측에 매일 6시간 이상 강도 높은 훈련을 실시하는 것이다. 하지만 강제유도 운동치료가 뇌졸중 환자의 임상 적용에 있어서 문제점을 보였고, 이를 최소화하기 위해 수정된 강제유도 운동치료가 고안되었다. 뇌졸중 환자를 대상으로 수정된 강제유도 운동치료의 적용이 다양한 방법으로 연구되어져 왔고, Motor Activity Log(MAL), Fugl-Meyer Assessment(FMA), Wolf Motor Function Test(WMFT), Action Research Arm Test(ARAT), Functional Independence Measure(FIM), Stroke Impact Scale(SIS)을 통해 뇌졸중 환자의 기능 향상에 대한 효과를 증명하였다. 수정된 강제유도 운동치료가 뇌졸중 환자의 상지기능, 일상생활활동과 삶의 질 향상을 위한 치료 방법으로써 작업치료 임상에서 유용하게 적용될 수 있을 것이라 사료된다.