• 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.

• PNF and Movement
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• v.13 no.2
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• pp.95-102
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• 2015

Purpose: The purpose of this study was to analyze the effect of arm flexion patterns of proprioceptive neuromuscular facilitation on muscle activation in the contralateral lower extremity. Open kinematic chain and closed kinematic chain positions were used. Methods: This study used an electromyogram (MP150, Biopac Systems, USA) to measure muscle activation in 20 healthy male students. Comparative analysis was completed on muscle activation of the vastus lateralis, biceps femoris, tibialis anterior, and gastrocnemius of the contralateral lower extremity. Open kinematic chain and closed kinematic chain positions were used with a unilateral arm flexion-abduction-external rotation pattern. Paired t-tests using the SPSS 12.0 for Windows analyzed the data produced by the electromyogram. Results: There was a statistically significant difference in muscle activation in the biceps femoris, gastrocnemius, and tibialis anterior when the open kinematic chain and closed kinematic chain positions were compared (p < 0.05). Conclusion: The biceps femoris, gastrocnemius, and tibialis anterior muscles showed greater muscle activation in the closed kinematic chain position when compared to the open kinematic chain position.

• 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.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2543-2554
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• 1993

In this paper, the kinematic and dynamic analyses of spatial complex kinematic chain are studied. Through the new method both using the set of identification numbers and applying the DenavitHartenberg link representation method to the spatial complex kinematic chain, the kinematic configuration of the chain is represented. Some link in the part of closed chain being fictitiously cutted, the complex kinematic chain is transformed to the branched chain. The kinematic constraint equations are derived from the constraint conditions which the cutted sections of the link have to satisfy. And the joint variables being partitioned in the independent joint variables and the dependent joint variables, the dependent variables are calculated from the independent variables by using the Newton-Raphson iterative method and the pseudoinverse matrix. The equations of motion are derived under the independent joint variables by using the principle of virtual work. Algorithms for dynamic analysis are presented and simulations are done to verify accuracy and efficiency of the algorithms.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• PNF and Movement
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• v.9 no.4
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• pp.13-21
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• 2011

Purpose : The purpose of this study was to analyze the effect of closed kinematic chain exercise and proprioceptive neuromuscular facilitation exercise on the static dynamic balance performance of hemiplegic patients in order to suggest them therapeutic intervention methods. Methods : The subjects of this study were 18 hemiplegic patients grouped into 2 subgroups according to the exercise program. one group of closed kinematic chain exercise carried out sit to stand, Hooklying with pelvic lift(bridging) and stair-up & down by a hemiplegic leg. The other group of proprioceptive neuromuscular facilitation exercise carried out leg flexion-extension pattern in supine position, leg flexion pattern in standing and stabilizing reversal exercise in stating position. Each exercise was carried out over 3 sets of 10reps. Results : The results of this study were summarized as follows: 1. For both groups, there were statistically significant changes in the static balance (FICSIT-4) performance after exercise program (p<.05). 2. For both groups, there were statistically significant changes in the dynamic balance (FSST, TUG, FRT) performance after exercise program (p<.05). 3. In the comparison between both groups, there was no statistically significant difference in the static dynamic balance performance (FICSIT-4, FSST, TUGT, ER) after exercise program. Conclusion : As the results of the study shows closed kinematic chain exercise and proprioceptive neuromuscular facilitation exercise affect the improvement of hemiplegic patients'' static dynamic balance performance, it is supposed that these exercises could be therapeutic exercise program in clinical situations.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.8 no.2
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• pp.75-86
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• 2004

In this study, a recursive algorithm for generating the equations of motion of a chain of rigid rods is presented. The methods rests upon the idea of replacing the rigid body by a dynamically equivalent constrained system of particles. The concepts of linear and angular momentums are used to generate the rigid body equations of motion without either introducing any rotational coordinates or the corresponding transformation matrices. For open-chain, the equations of motion are generated recursively along the serial chains. For closed-chain, the system is transformed to open-chain by cutting suitable kinematic joints with the addition of cut-joints kinematic constraints. An example of a closed-chain of rigid rods is chosen to demonstrate the generality and simplicity of the proposed method.

• PNF and Movement
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• v.15 no.3
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• pp.237-246
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• 2017

Purpose: The purpose of this study was to investigate the effects of forward-and-backward shift trunk exercise using a proprioceptive neuromuscular facilitation (PNF) diagonal pattern in a closed kinematic chain exercise on the upper limb function and activity of daily living (ADL) in a stroke patient. Methods: One subject participated in this study. The study used a reversal A-B-A' design, where A and A' were the baseline period (no intervention), and B was the intervention period. The intervention was a forward-and-backward trunk shift exercise, using a PNF diagonal pattern on both a stand-on-hand position and a quadruped position of closed kinematic chain exercises, for 20 min per day for 2 weeks. The range of motion (ROM) of the shoulder joint was measured and a Fugl-Meyer assessment of upper extremity (FMA-UE) and a functional independence measure (FIM) were performed to measure upper limb function and activity of daily living (ADL). Results: ROMs of shoulder joint (flexion, extension, abduction, and external rotation) increased in the intervention phase. The FMA-UE score increased (from 28 to 36) in the intervention phase. The FIM score increased (from 20 to 25) in the intervention phase. These increases were maintained after intervention (Baseline II). Conclusion: These results suggest that forward-and-backward shift trunk exercises using a PNF diagonal pattern in a closed kinematic chain exercise have a positive effect on stroke patients' upper limb function and ADL ability.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.72-81
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• 2005

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.333-344
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• 2014

This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots' walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.