• Journal of Korean Neurosurgical Society
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• v.61 no.2
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• pp.243-250
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• 2018

Objective : To compare the morphometry of subaxial cervical spine between cerebral palsy (CP) and normal control. Methods : We retrospectively analyzed 72 patients with CP, as well as 72 patients from normal population. The two groups were matched for age, sex, and body mass index. Pedicle, lateral mass (LM), and vertebral foramen were evaluated using computed tomography (CT) imaging. Pedicle diameter, LM height, thickness, width and vertebral foramen asymmetry (VFA) were measured and compared between the two groups. Cervical dynamic motion, disc and facet joint degeneration were investigated. Additionally, we compared the morphology of LM between convex side and concave side with cervical scoliotic CP patients. Results : LM height was smaller in CP group. LM thickness and width were larger in CP group at mid-cervical level. In 40 CP patients with cervical scoliosis, there were no height and width differences between convex and concave side. Pedicle outer diameter was not statistically different between two groups. Pedicle inner diameter was significantly smaller in CP group. Pedicle sclerosis was more frequent in CP patients. VFA was larger in CP group at C3, C4, and C5. Disc/facet degeneration grade was higher in the CP group. Cervical motion of CP group was smaller than those of the control group. Conclusion : LM morphology of CP patients was different from normal population. Sclerotic pedicles and vertebral foramen asymmetry were more commonly identified in CP patients. CP patients were more likely to demonstrate progressive disc/facet degeneration. This data may provide useful information on cervical posterior instrumentation in CP patients.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.183-188
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• 2006

This research is to know differentiation of CP(center of pressure) pattern among four pitching sort(straight ball, raise ball, change up ball, drop ball). Subject are three national or junior athletes. We use the one camera, Novel Win pressure measurement system. Conclusions are as follows : 1. When we throw the straight ball, CP of left foot is effective to end movement at middle of foot in body balance on arm angular motion and enhanced speed. 2. When we throw the raise ball, to change CP from middle to post is more effective in order to raise the ball. 3.In drop ball pitching, in order to fall down the ball in front of hitter, CP of left foot move from post foot to interior part of forefoot 4. In change up ball pitching, if CP of left foot move into forefoot, it is a cause of high ball and hitter can recognize the change up ball because of late arm rotation motion.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2231-2236
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• 2005

CP (Cellular Phone) is currently one of the most attractive technologies and RT (Robot Technology) is also considered as one of the most promising next generation technology. We present a new technological concept named RCP (Robotic Cellular Phone), which combines RT and CP. RCP consists of 3 sub-modules, $RCP^{Mobility}$, $RCP^{Interaction}$, and $RCP^{Integration}$. $RCP^{Interaction}$ is the main focus of this paper. It is an interactive emotion system which provides CP with multi-emotional signal receiving functionalities. $RCP^{Interaction}$ is linked with communication functions of CP in order to interface between CP and user through a variety of emotional models. It is divided into a tactile, an olfactory and a visual mode. The tactile signal receiving module is designed by patterns and beat frequencies which are made by mechanical-vibration conversion of the musical melody, rhythm and harmony. The olfactory signal receiving module is designed by switching control of perfume-injection nozzles which are able to give the signal receiving to the CP-called user through a special kind of smell according to the CP-calling user. The visual signal receiving module is made by motion control of DC-motored wheel-based system which can inform the CP-called user of the signal receiving through a desired motion according to the CP-calling user. In this paper, a prototype system is developed for multi-emotional signal receiving modes of CP. We describe an overall structure of the system and provide experimental results of the functional modules.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• MALSORI
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• no.58
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• pp.1-18
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• 2006

The purpose of this study was to investigate diadochokinetic (DDK) characteristics in the subjects with spastic cerebral palsy (CP) by severity. DDK characteristics were measured through rate, regularity, accuracy and consistency in Alternate Motion rate (AMR) and Sequential Motion rate (SMR) tasks. The subjects participated in this study included 27 subjects with spastic CP (mild- 9, moderate- 9, severe- 9) and 9 normal persons who are around 11-20 years old. On the result of this study, rate in AMR was significant difference between all spastic groups and normal group, and rate in SMR was significant difference between normal and mild groups and moderate and severe groups. In regularity of the DDK tasks, severe group had significant difference the other groups. Finally, accuracy and consistency of the DDK tasks exhibited significant difference between all spastic groups and normal group. In conclusion, the subjects with spastic CP have a tendency to produce slow and irregular syllable repetition as severity increases, but to produce inaccurate and inconsistent syllable repetition regardless of severity in the DDK tasks.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.33-40
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• 2006

We present a new technological concept named RCP (Robotic Cellular Phone), which combines RT and CP. That is an ubiquitous robot. RCP consists of 3 sub-modules, RCP Mobility, RCP interaction, and RCP Integration. RCP Interaction is the main focus of this paper. It is an interactive emotion system which provides CP with multi-emotional signal receiving functionalities. RCP Interaction is linked with communication functions of CP in order to interface between CP and user through a variety of emotional models. It is divided into a tactile, an olfactory and a visual mode. The tactile signal receiving module is designed by patterns and beat frequencies which are made by mechanical-vibration conversion of the musical melody, rhythm and harmony. The olfactory signal receiving module is designed by switching control of perfume-injection nozzles which are able to give the signal receiving to the CP-called user through a special kind of smell according to the CP-calling user. The visual signal receiving module is made by motion control of DC-motored wheel-based system which can inform the CP-called user of the signal receiving through a desired motion according to the CP-calling user. In this paper, a prototype system is developed far multi-emotional signal receiving modes of CP. We describe an overall structure of the system and provide experimental results of the functional modules.

• Korean Journal of Acupuncture
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• v.37 no.3
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• pp.191-197
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• 2020

This case study reports the clinical response to Korean Medicine (KM) treatments including capsaicin-containing (CP) pharmacopuncture in three patients with acute low back and hip pain. Three patients were diagnosed with acute lumbar sprain, and were treated with CP pharmacopuncture, and other KM treatments including acupuncture, cupping, and herbal medicine. Numeric Rating Scale (NRS), Oswestry Disablility Index (ODI), and Clinical Evaluation Grade (CEG) were used to evaluate symptom changes. After one or two treatments, acute pain with limited range of motion in the low back and thigh region improved with a decrease in NRS, ODI, and CEG. These results suggest that further studies on KM treatments including CP pharmacopuncture for acute low back and hip pain are warranted.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.393-394
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• 2013

• Journal of the Korean Society of Physical Medicine
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• v.4 no.3
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• pp.149-156
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• 2009

Purpose：The hamstring muscle has an important role in standing, walking and other functions related to daily living. Most people with Cerebral Palsy(CP) have muscle tightness, especially in the hamstring, which may cause abnormal alignment in the lower extremities. To investigate an effective treatment for hamstring muscle tightness by observing the effects of heat pack or Soft tissue mobilization(STM) on hamstring muscles. Methods：Thirteen-two volunteers with CP aged between 9 and 13 years($M\pmSD$: $11\pm1.46$), were recruited and divided into four groups of four: (1) the STM for people with Spastic CP group, (2) the heat pack(HP) for people with Spastic CP group, (3) the STM for people with Mixd CP group, and (4) the heat pack for people with Mixed CP group. All received treatment three times per week for six weeks. A inclinometer was used to measure for hip flexion & knee extension joint range motion(ROM). Results：The ROM of hip flexion & knee extension were improved at the STM and HP for people with Spastic CP groups. The ROM and hip flexion were improved at the STM and HP for people with Mixed CP groups. The amount of increase ROM are differenced by the types of CP. Conculusion：STM and heat pack, both are effective for people with CP especially for Spastic CP.