• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• The Journal of Korean Physical Therapy
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• v.31 no.1
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• pp.13-17
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• 2019

Purpose: This study examined the effects of flexible flatfeet on the accuracy of knee joint motions in closed and open kinetic chain tasks. Methods: Twenty-four healthy participants were recruited for this study. The subjects were divided into two groups using a navicular drop (ND) test: flexible flatfoot group (n=12, male: 6, aged $22.00{\pm}2.22years$) and age-matched control group (n=12, males: 6, aged $22.17{\pm}1.53years$). The accuracy of knee motion was measured quantitatively by tracing through the flexion and extension motion of the knee joints in the closed kinetic chain and the open kinetic chain. Results: There was a significant difference in the accuracy index between the groups in closed kinetic chain task, but there was no significant difference in the open kinetic chain task. In addition, there was a significant difference in the accuracy index between the closed kinetic chain and the open kinetic chain task in the flexible flatfoot group. In addition, a significant negative correlation was observed between the ND and accuracy index in the closed kinematic chain task, but there was no significant relationship between the ND and accuracy index in the open kinematic chain task. Conclusion: Flexible flatfeet can affect the accuracy of the adjacent joints, such as the knee joint in the closed kinematic chain.

• PNF and Movement
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• v.18 no.3
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• pp.333-341
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• 2020

Purpose: The purpose of this study was to investigate the effect of open and closed kinetic chain exercises with a sling on neck flexor thickness during chin-in movement in office workers with forward head posture. Methods: Thirty-one selected subjects randomly performed chin-in movement in open kinetic chain and closed kinetic chain exercises using a sling. All subjects were measured for their neck flexor thickness using ultrasound measurement equipment during the performance of chin-in movement in open and closed kinetic chain exercised. A paired t-test was used to compare the thickness of the total neck flexor, superficial, and deep neck flexor, respectively, between open and closed kinetic chain exercises with chin-in movement. Results: The thickness of the superficial neck flexor diminished in size more greatly during the chin-in movement with the closed kinetic chain than the open kinetic chain, but this was not a statistically significant difference (p > 0.05). On the other hand, the thickness of the total neck flexor and deep neck flexor had more greatly increased during the chin-in movement with the closed kinetic chain than the open kinetic chain, and this was a statistically significant differences (p < 0.05). Conclusion: This study suggested that chin-in movement with a closed kinetic chain is more effective in activating the deep neck flexor than the open kinetic chain. Thus, we believe that the closed kinetic chain exercise using a sling is an effective intervention to correct the postural alignment of individuals with forward head posture.

• Journal of information and communication convergence engineering
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• v.19 no.2
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• pp.84-92
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• 2021

The research on waste power batteries in China in the past ten years reveals that the power battery recycling industry is enormous but marred with several challenges. A study of China's current power battery closed-loop supply chain revealed some issues in the power battery recycling industry, such as imperfect supply chain, small recycling scale, asymmetric information, and imperfect profit distribution mechanism. This paper uses the theory of corporate social responsibility and consumer choice to propose a closed-loop network of power batteries based on block chain technology and analyzes the existing closed-loop supply chain of power batteries. Consequently, this study provides a new idea for developing the power battery closed-loop supply chain by proposing the closed-loop network of power batteries based on blockchain technology.

• Journal of the Korean Society of Physical Medicine
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• v.7 no.2
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• pp.173-182
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• 2012

Purpose : This study was investigated the effect of lower extremity muscle activity during open kinetic chain exercise (OKC) and closed kinetic exercise (CKC) in normal young adults. Methods : The participants were consisted of forty-one. All subjects were randomly assigned to two groups of open kinetic chain exercise group (n=21) and closed kinetic chain exercise group(n=20). It was perform 3 sets, 3 times per week for 6 weeks both open kinetic chain exercise group and closed kinetic chain exercise group. Subjects were assessed for each subject took pre-test, post-test in 2 weeks, post-test in 4 weeks, post-test in 6 weeks measurement the surface EMG data for vastus medialis and lateralis, lateral and medial hamstring, lateral and medial gastrocnemius, tibialis anterior. Results : The vastus medialis and lateralis muscle activity was significantly increased within the intervention period both group(p<.05). The lateral and medial part of hamstring muscle activity was significantly increased with in the intervention period(p<.05). The tibialis anterior muscle activity of open kinetic chain exercise group and closed kinetic chain exercise group was significantly increased in the intervention period(p<.05). The lateral and medial part of gastrocnemius muscle activity of open kinetic chain exercise group and closed kinetic chain exercise group was significantly increased with in the intervention period(p<.05). Conclusion : It was found that both open kinetic chain exercise and closed kinetic chain exercise was significantly increased muscle activity. Further studies are needed to analyzed long term effects and subjects resulting from these changed. these exercises can be selectively adapted not only as treatment exercise for patients but also as preventive exercise for normal person to improve balancing ability by conducting proper amount of exercise for each individual's condition and stage.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.4
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• pp.2212-2220
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• 2020

Background: Repetitive damage to the ankle joint causes chronic ankle instability, and studies comparing the effects of exercise in open and closed chains as a treatment method are very rare. Objectives: To investigate the effects of open and closed kinetic exercises on muscle activity and dynamic balance of ankle joint in adults with chronic ankle instability. Design: Single-blind randomized controlled trial. Methods: The selected 30 subjects are randomly divided into open kinetic chain exercise experimental group (EGI, n=10), closed kinetic chain exercise experimental group (EGII, n=10), and stretching control group (CG, n=10). Open and closed kinetic exercises lasted 30 minutes three times a week for six weeks and stretching exercises performed four actions for 20 seconds and five sets. The measurement tools using surface electromyography to measure muscle activity in the ankle joint. The dynamic balance of the ankle was evaluated using the Y-Balance test. Results: Following the intervention, closed and open kinetic chain exercise group showed significant difference in tibialis anterior and gastrocnemius muscle activity and dynamic balance (P<.05). However, no significant difference in tibialis anterior and gastrocnemius muscle activity and dynamic balance between closed and open kinetic chain exercise group (P<.05). Conclusion: This study provides evidence that closed and open kinetic chain exercise can be presented as an effective exercise for the muscle activity of ankle muscle and dynamic balance of the subject with chronic ankle instability.

• The Journal of Korean Physical Therapy
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• v.17 no.3
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• pp.297-310
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• 2005

Open kinetic chain exercise has lost favour in rehabilitation after cruciate ligament reconstruction due to concerns that this exercise is harmful to the graft and will be less effective in improving function. Therefore rehabilitation has focused over the past decade on closed kinetic chain exercise. Open kinetic chain and closed kinetic chain exercises were compared for their effects on proprioception, muscle strength and knee instability in the early period of cruciate ligament reconstruction rehabilitation. The study subjects were 14 patients in 28weeks from cruciate reconstruction surgery(11 male, 3 female; mean age = 44.36 years). Closed kinetic chain exercise group used ball, balance pad and air cushion, to perform weightbearing exercises and the open kinetic chain exercise group used elastic rope and N-K table, to perform non-weightbearing exercises. Between tests, subjects trained 5 times per week for 2 weeks. Statistical analysis was by Wilcoxon signed rank test and Mann Whitney U test. In result, this study shows that both open and closed kinetic chain exercise programs lead to an improved muscle strength and Lysholm score. But there was no improvement in proprioception at both exercises. Closed versus open kinetic chain exercise in early period of rehabilitation after cruciate ligament reconstruction surgery do not differ in their effects on knee proprioception, muscle strength and instability. But the effect of closed kinetic chain exercises was showed more improvement than open kinetic chain exercises between pre-post exercises. Therefore further study is required to assess effect of both groups in more long period.

• The Journal of Korean Society for Neurotherapy
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• v.22 no.3
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• pp.19-23
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• 2018

Purpose The purpose of this study was to investigate the change of balance ability by performing closed chain exercise on stable support surface and unstable support surface in twenties. Methods This study randomly selected 15 students in the closed chain exercise group on the stable support side and 15 on the closed chain exercise group on the unstable support side. Balance ability was measured before and after the start of exercise and static balance was measured by OLT(One Leg Standing Test) and FRT (Functional Reach Test). Result The changes of the function reach test of the closed chain movement according to the ground type were significant in the unstable and stable support surfaces and the change of function reach test after the intervention in the two groups was significantly improved compared with the closed chain movement respectively. The one leg standing test changes of the closed chain movement according to the ground type showed significant results on the unstable and stable support surfaces, but there was no significant difference in the one leg standing test changes after intervention between the two groups. Conclusion The effect of closed chain training on ground type is unstable. The change of function reach test and one leg standing test of the closed chain exercise group on the stable support surface resulted in significant changes after exercise, but there was a significant difference in the balance ability of function reach test change after intervention between the groups.

• Journal of The Korean Society of Integrative Medicine
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• v.3 no.1
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• pp.71-80
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• 2015

Purpose: The purpose of this study was to compared the muscle activities of vastus medialis, vastus lateralis, rectus femoris in open kinetic chain and closed kinetic chain. Methods: Subjects of the study were 30 adults students. They were divided into 2 group, one for open kinetic chain and other for closed kinetic chain of extension, flexion, the maximum extension for vastus medialis, vastus latarealis, rectus femoris muscle activation. Results: Rectus femoris increased open kinetic chain group about all posture and vastus medialis increased open kinetic chain group about the maximum extension and flexion. and vastus lateralis increased open kinetic chain group about the maximum extension and flexion. Conclusion: Muscle activation are at the highest with the open kinetic chain in vastus medialis, vastus lateralis, rectus femoris. probably steady exercise thinked for open kinetic chain and closed kinetic chain.

• The Journal of Korean Physical Therapy
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• v.27 no.4
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• pp.246-251
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• 2015

Purpose: The purpose of this study was to compare activities of shoulder girdle muscles according to types of closed chain exercise in the sixties. Methods: The subjects consisted of 15 persons in their sixties. Muscle activity of the pectoralis major, deltoid middle, deltoid posterior, upper trapezius, lower trapezius, and serratus anterior were measured using electromyography according to shape of the support base and angle of shoulder flexion. According to types of closed chain exercises, muscles activities were compared by paired t-test. Significance level to verify statistical significance was .05. SPSS win (ver. 22.0) program was used for statistical analysis. Results: Muscle activities of the pectoralis major, middle deltoid, trapezius lower, and serratus anterior showed significant difference according to types of closed chain exercise (p<0.05). Conclusion: According to types of closed chain exercises of the shoulder girdle, muscle activities of the pectoralis major, deltoid middle, posterior and lower trapezius showed change of muscle activities.