• Proceedings of the KIEE Conference
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• 2000.11d
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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.

• The Journal of Korea Robotics Society
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• v.15 no.2
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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.

• The Research Journal of the Costume Culture
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• v.13 no.3 s.56
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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

• Fashion & Textile Research Journal
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• v.8 no.2
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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.

• Physical Therapy Korea
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• v.16 no.1
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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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• v.13 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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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.

• Journal of Industrial Technology
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• v.28 no.A
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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.

• Journal of the Korea Society for Simulation
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• v.1 no.1
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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.

• Therapeutic Science for Rehabilitation
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• v.2 no.2
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• pp.5-20
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• 2013

Constraint Induced Movement Therapy(CIMT) is intense in that patient's unaffected arm is restrained for 90% of waking hours during a two-week period while they also participate in activity sessions using the affected arm for 6 hours/day. However CIMT showed that an issue for applying it to clinics of patients with stroke, and then modified constraint induced movement therapy(mCIMT) was designed to minimize the issue. Application on mCIMT for the patients has been studied in various ways. As a result, it has proved the effect on functional improvement of patients with stroke through methods such as MAL, FMA, WMFT, ARAT, FIM, SIS and so forth. It's considered that modified constraint induced movement therapy can be useful applied on clinical experiments of occupational therapy, as it is a way of treatment of upper extremity function, activities of daily living and an improvement of the quality of life for stroke patients.