• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• International Journal of Internet, Broadcasting and Communication
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• 제12권2호
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• pp.15-20
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• 2020

The objectives of this study were to compare unimanual, symmetrical and reciprocal movement of transportation. Nineteen participants with post-stroke hemiparesis were involved in this study. We used the Fitmeter accelerometer to measure the dependent variables: signal vector magnitude, peak acceleration and peak deceleration. With respect to the hand and arm, intensity of unimanual movement was higher than that of symmetrical movement, and reciprocal movement was greater than that of symmetrical movement. With regard to the trunk, intensity of unimanual movement was lower than that of symmetrical movement, and within bimanual movement, reciprocal movement was greater than that of symmetrical movement. In conclusion, reciprocal movement would facilitate upper extremity movement and decrease the compensatory movement of trunk more than would symmetrical movement.

• 한국운동역학회지
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• 제16권4호
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• pp.49-59
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• 2006

The purpose of this study was to investigate the relations between the segments of the body, the three dimensional anatomical angle according to sweep shot in ice hockey. The subjects of this study were five professional ice hockey players. The reflective makers were attached on anatomical boundary line of body. For the movement analysis three dimensional cinematographical method(APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 6.1 graphical programming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and ice hockey stick were defined. 1. In three dimensional linear velocity of blade the Y axis showed maximum linear velocity almost impact, the X axis(horizontal direction) and the Z axis(vertical direction) maximum linear velocity of blade did not show at impact but after impact this will resulted influence upon hitting puck. 2. The resultant linear velocity of each segment of right arm showed maximum resultant linear velocity at impact. It could be suggest that the right arm swing patterns is kind of push-like movement. therefore the upper arm is the most important role in the right arm swing. 3. The three dimensional anatomical angular displacement of trunk in flexion-extension showed flexion all around the wrist shot. The angular displacement of trunk in internal-external rotation showed internal rotation angle at the backswing top and and increased the angle after the impact. while there is no significant adduction-abduction. 4. The three dimensional anatomical angular displacement of trunk showed most important role in wrist shot. and is follwed by shoulder joints, in addition the movement of elbow/wrist joints showed least to the shot. this study result showed upperlimb of left is more important role than upperlimb of right.

• 대한물리의학회지
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• 제17권1호
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• pp.85-92
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• 2022

PURPOSE: This study aimed to analyze the effects of task exercise on an unstable surface on the involuntary arm and leg movement and balance in stroke patients. METHODS: 20 stroke patients were clinically sampled and randomly assigned to two groups of 10 patients each. Experimental group I received task exercise intervention on an unstable surface and experimental group II received task exercise intervention. The interventions were carried out 3 times a week for 4 weeks (30 minutes per session). The global synkinesis (GS) and Berg Balance Scale (BBS) of the patients were evaluated as pre-tests prior to intervention, and then the post-tests were re-measured in the same manner as the pre-tests after a 4-week intervention period. RESULTS: In the experimental group I, there were statistically significant differences in the changes in the arm and leg GS (p < .01) and in the BBS (p < .05). On the other hand, in the experimental group II, there were statistically significant differences in the changes only in the arm GS (p < .01) and in the BBS (p < .05). Also, in the comparison of the changes between the two groups, there was a statistically significant difference in the changes in the leg GS only (p < .05). CONCLUSION: In the experimental group I, the arm and leg GS were statistically significantly reduced, but the balance ability was statistically significantly improved. The reason was that in the experimental group I, similar movements of the paralyzed arm were promoted due to the double-task exercise on the unstable surface, and sensory feedback and posture strategies were well utilized in the legs, which was found to be effective in reducing the GS and improving the balance ability. Therefore, based on these results, the double-task exercise on an unstable surface should be fully utilized for the rapid rehabilitation of stroke patients.

• Journal of information and communication convergence engineering
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• 제9권6호
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• pp.743-746
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• 2011

An implementation for surface EMG network analysis and vertical control system of robotic arm is presented in this paper. The transmembranes are simulated by equivalent circuit and cable equation for propagation to be converted to circuit networks. The implementation is realized to be derived from the detecting EMG signal from 3 electrodes, and EMG transmembrane signals of human arm muscles are detected by several surface electrodes, high performance amplifier and filtering, converting analog to digital data and driving a servomotor for spontaneous robotic arm. The system is experimented by monitoring multiple steps vertical control angles corresponding to biceps muscle movement. The experimental results are that the vertical moving control level is measured to around 2 degrees and mean error ranges are lower 5%.

• 전기학회논문지
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• 제63권7호
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• pp.940-944
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• 2014

In this research, we designed representative motion patterns that possibly occurred in sleep situation and evaluated the feasibility of the smartphone based movement recording technique. For this, we designed 7 motions such as posture change, head movement, arm movement (vertical, horizontal), leg movement and hand movement (flipping, folding). Movement was recorded by using the smartphone and the actimetry device simultaneously for comparing the feasibility of smartphone based recording. As a result of experiment, we found that the smartphone based movement recording well reflects the body movement, however, it shows the limitation in recording the small local movement such as hand motion compared with the reference actimetry device, Actiwatch.

• 한국의류학회지
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• 제14권4호
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• pp.292-304
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• 1990

The surface change of upperarm and shoulder blade area are caused by the extensive upper limb movement, thus it is necessary to measure the amount of change for constructing the clothing. Moire photography was taken after plastic casters of upperarm and shoulder blade area was prepared. 1. For the shoulder blade area, subjects showed the same change of surface area for the various limb positions, wherease, for the upperarm only at the $0^{\circ}\;and\;180^{\circ}$ limb position, same change was observed. 2. As the movement of the upperarm was increased, surface area of axillary part was increased and that of shoulder part was decreased. 3. To make a bodice pattern, the minimum size of the back with the ease were $\frac{B}{4}$+3.13 cm R for normal wear and $\frac{B}{4}$+5.75 cm for active wear. 4. As the movement of the arm was increased, the cross section for the upperarm were changed to elliptical shape. 5. For each horizontal basic line, there was a positive correlation between the amount of change of shoulder blad area and that of upperarm area.

• 한국의류학회지
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• 제10권3호
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• pp.17-25
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• 1986

The objectives of this study are to investigate the variation of the sleeve form by changing arm movements and to study the relationship among the three aspects of sleeve (sleeve height, width and armhole girth) by changing arm movements. Plasrun gyps were used for this experimental research. The subjects of this study were elementary schoolgirls (9$\~$12 years old). Arm mevements were 4 types($0^{\circ},\;45^{\circ},\;90^{\circ},\;135^{\circ}$) to the vertical directions. The statistical methods used to analyze the data included mean, standard deviation, the Pearson's correlation coefficients and coefficients of determination. The results obtained from this study were as follows; 1. According to the arm movements, the sleeve form changed more in the front than in the back. 2. As the arm movements were increased vertically, the heights of sleeves and the girths of the armholes were decreased, and the widths of sleeves were increased. 3. Variation rates by changing arm movements were different according to the variation of arm movement, and were the highest in sleeve height. 4. There was a negative correlation between sleeve height and width, and a positive correlation between sleeve height and armhole girth.

• 대한물리치료과학회지
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• 제29권3호
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• pp.12-20
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• 2022

Background: The purpose of this study was to investigate the changes of trunk and lower extremity muscle activity according to the compensation of arm during bridge movement of healthy subject. Design: Cross-sectional Study. Methods: Twenty healthy subjects participated in this study. The subjects performed bridge exercise with 3 different arm positions(arm abduction 45°, 90° and cross-arms) and measured the muscle activity of the trunk and lower extrimity. During bridge exercise with 3 different arm positions, trunk (rectus abdominis, erector spinae) and lower extrimity muscle activity (gluteus medius, biceps femoris, tibialis anterior) were measured using wireless surface EMG. Results: Rectus abdominis and gluteus medius muscle were most activated during bridge exercise with arm abduction 90° and erector spinae and biceps femoris muscle were most activated during bridge exercise with arm abduction 45°. In addition, tibialis anterior muscle was most activated during bridge exercise with arm cross. However, these difference in muscle activity according to the arm position was not statistically significant. Conclusion: As a result of this study, we think that the change in arm position does not induce sufficient instability to increase the muscle activity of the trunk and lower extremity muscles. Therefore, various approaches for inducing instability of the support surface for increasing muscle activity when applying bridge movement in clinical practice should be explored.

• 로봇학회논문지
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• 제1권2호
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• pp.188-196
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• 2006

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.