• 한국정밀공학회지
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• 제32권3호
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• pp.285-292
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• 2015

This paper presents a wireless ground reaction force (GRF) sensing system for ambulatory GRF recording. The system is largely divided into three parts: force sensing modules based on optical sensor, outsole type frame, and embedded system for wireless communication. The force sensing module has advantages of the low height, robustness to the moment interference, and stable response in long term use. In simulation study, the strain and stress properties were examined to satisfy the requirements of the GRF sensing system. Four sensing modules were mounted on the toe, ball, and heel of foot shaped frame, respectively. The GRF signals were extracted using Micrpcontroller unit and transferred to the smart phone via Bluetooth communication. We measured the GRF during the normal walking for the validation of the continuous recording capability. The recorded GRF was comparable to the off the shelf stationary force plate.

• 로봇학회논문지
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• 제11권3호
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• pp.183-192
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• 2016

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

• 한국산학기술학회논문지
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• 제20권12호
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• pp.224-229
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• 2019

본 연구는 고등학교 야구선수를 대상으로 신체정렬과 족저압 분포 분석하여 올바른 자세지도와 스포츠 손상 및 부상 예방 프로그램에 참고 자료를 제공하는데 그 목적이 있다. 연구 대상자 32명을 대상으로 실시하였다. 신체정렬은 척추에서 몸통의 좌우기울기, 등뼈의 뒤굽음각, 허리뼈의 앞굽음각, 골반에서는 골반의 기울기, 골반의 뒤틀림을 측정하였고 족저압은 각 발의 좌우 체중분포, 각 발의 최대압력을 측정하였다. 측정항목에 대한 평균과 표준편차를 산출하여 도표화하였고, 신체정렬과 족저압 분포의 상관관계를 알아보기 위해 pearson's cerrelation analysis를 사용하여 분석하였다. 모든 통계학적 유의 수준은 0.05로 설정하였다. 신체정렬과 족저압 분포 간의 상관관계를 분석한 결과 척추에서 허리뼈의 앞굽음각과 좌우 최대압력에서 양의 상관관계가 나타났다. 몸통의 좌우기울기, 등뼈의 뒤굽음각, 골반의 기울기, 골반의 뒤틀림과 각 발의 좌우 체중분포, 각 발의 최대압력에서는 상관관계가 나타나지 않았다. 본 연구를 통해 허리뼈의 앞굽음각이 증가될수록 발의 한쪽에 힘이 더 실리게 되어 최대압력이 증가하는 양의 상관관계를 나타내는 것을 알 수 있었다. 향후 운동선수들의 신체정렬과 족저압 분포에 대한 운동프로그램의 참고 자료가 될 것으로 사료된다.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.538-546
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• 2015

This paper describes an intelligent ankle assistive robot which provides assistive power to reduce ankle torque based on an analysis of ankle motion and muscle patterns during walking on level and sloped floors. The developed robot can assist ankle muscle power by driving an electric geared motor at the exact timing through the use of an accelerometer that detects gait phase and period, and a potentiometer to measure floor slope angle. A simple muscle assistive link mechanism is proposed to convert the motor torque into the foot assistive force. In particular, this mechanism doesn't restrain the wearer's ankle joint; hence, there is no danger of injury if the motor malfunctions. During walking, the link mechanism pushes down the top of the foot to assist the ankle torque, and it can also lift the foot by inversely driving the linkage, so this robot is useful for foot drop patients. The developed robot and control algorithm are experimentally verified through walking experiments and EMG (Electromyography) measurements.

• 대한의용생체공학회:의공학회지
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• 제28권2호
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• pp.187-194
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• 2007

The purpose of this study is to determine the characteristics of ground reaction force(GRF) in golf swing for various slopes of flat lie and uphill lies of 5 and 10 degrees. Five right-handed professional golfers were selected for the experiment and the 7 iron club was used. We used four forceplates to measure GRF and synchronized with the three-dimensional motion analysis system. Results showed that slope did not affect the total time for golf swing, but the time until the impact had a tendency to slightly increase for the uphill lie(p<0.05). The medial-lateral GRF of the right foot increased toward the medial direction during back swing, but less increases were found with the angle of uphill lie(p<0.05). The GRF of the left foot increased rapidly toward the medial direction at the uncocking and the impact during down swing, but decreased with the increase in the angle of uphill lie(p<0.05). The anterior-posterior GRF of both feet showed almost the same for different slopes. With the slopes, the vertical GRF of the right foot increased, but the vertical GRF of left foot decreased(p<0.05). Uphill lies would have negative effect to provide the angular momentum during back swing, restricting pelvic and trunk rotations, and to provide the precise timing and strong power during down swing, limiting movements of body's center of mass. The present study could provide valuable information to quantitatively analyze the dynamics of golf swing. Further study would be required to understand detailed mechanism in golf swing under different conditions.

• 대한족부족관절학회지
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• 제8권1호
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• pp.71-75
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• 2004

Purpose: The purpose of this study was to evaluate retrospectively the clinical results of closed reduction and percutaneous screw fixation for unstable injuries on stress radiographs in subtle injuries of Lisfranc joint. Materials and Methods: From June 1997 to March 2003, 6 cases of unstable injuries on stress radiograph in subtle injuries of Lisfranc joint were treated by percutaneous cannulated screw fixation after closed reduction. All cases were injuried by indirect force (twisting injury). The average diastasis between the 1st and 2nd metatarsal base was 3 mm (2-4 mm) on initial nonweight bearing AP radiograph. The average follow-up period was 20 months. Clinical evaluation was assessed according to the American Orthopedic Foot and Ankle Society (AOFAS) midfoot score. Results: The AOFAS midfoot score was average 86 (80-90) points. The average diastasis between 1st and 2nd metatarsal base was 2 mm (1-3 mm) on weight bearing AP radiograph in final follow up. The final diastasis was increased slightly than diastasis in initial postoperative radiographs. But the clinical results were good. There was no correlation between the degree of diastasis and the clinical results. On weight bearing lateral radiograph, the average difference with normal foot in the distance between plantar aspect of 5th metatarsus and medial cuneiform was 2 mm (0-3 mm). One case had mild arthritic change on the radiographs. Conclusion: When the Lisfranc injuries, especially in the subtle injuries were suspicious, the stress views are helpful to assess stability of the Lisfranc injuries and planning of treatment. For unstable injuries on stress radiographs in subtle injuries of Lisfranc joint, closed reduction and percutaneous screw fixation is useful method to expect good clinical results.

• 한국운동역학회지
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• 제21권1호
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• pp.67-75
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• 2011

The purpose of this study was to find the difference in gait patterns when elderly and young people walk by analyzing COP, Gait Line, Foot pressure pattern, and ensuring the original biomechanics technology of developing high performance footwear for the elderly. The subjects who took part in the test consist of 20 elderly people and 20 young people. The physical features of the elderly people that were recruited for the study are as below: 20 healthy male subjects(elderly people) with an average age of 75.43 yrs(S.D 6.46 yrs), weight of 68.10 kg(S.D 0.94 kg) and a height of 168.65 cm(S.D 1.47 cm). Foot pressure pattern data was collected using a EMED-AT system(Novel Gmbh, Germany) operating at the 50 Hz during walking. The results are as follow : COP route of the elderly leans to lateral compared to the young, and Gait Line from heel to toe is not clear and laterally curved. At the same time, a contact are aonthe midfoot is high compared to the young, and maximum force of the forefoot is low. As a result of analysis, in order to develop high performance footwear for the elderly, it is necessary to develop lasts and soles reflecting the elderly's gait patterns.

• 한국운동역학회지
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• 제24권2호
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• pp.95-101
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• 2014

The purpose of this study was to investigate the training and detraining effects of a 8-week water exercise on lower extremities coordination during obstacle gait in the female elderly. Eight elderly participants (age: $76.58{\pm}4.97$ yrs, height: $148.88{\pm}7.19$ cm, body mass: $56.62{\pm}6.82$ kg, and leg length: $82.36{\pm}2.98$ cm), who stayed at the Seoul K welfare center, were recruited for this study. All participants had no history of orthopedic abnormality within the past 1 year and completed the aquatic exercise program which lasted for 8 weeks. To identify the training and detraining effect of 8 weeks of water exercise, a 3-D motion analysis with 7 infrared cameras and one force plate sampling frequency set at 100 Hz and 1,000 Hz, respectively, was performed. A two-way ANOVA was performed to find training and detraining effects among diferent obstacle heights. In this study significant level was set at .05. Significant training effects of LTS (lead foot thigh and shank) coordination in all obstacle height were found (p<.05). It is also found that the training effect of LTS remained 37%, 58%, and 25% in obstacle height of 30%, 40%, and 50%, respectively. Lead foot showed the greater detraining effect of coordination compared with trail foot, and SF (shank and foot) coordination revealed better detraining effects of coordination compare with TS (thigh and shank) in both feet. Based on the findings, a 8 week water exercise give an positive effects to the elderly in terms of segment cooperation which potentially helps reducing their accident falls. The magnitude of detraining may also help the elderly to find the retraining moment.

• 한국운동역학회지
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• 제23권1호
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• pp.25-35
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• 2013

This study examined 24 right-handed amateur baseball players. Twelve who had played baseball for more than 6 years were grouped as skilled players, while 12 who had played for 1-3 years were the unskilled player group. The swing motion was divided into four event phases: stance, backswing, impact, and follow-through. The mean and maximum plantar pressure, center of pressure, and ground reaction force were measured during each event phase. The mean and standard deviations for each variables were calculated and differences were validated with the independent sample t-test. A p-value <0.05 was considered statistically significant. The results were as follows. 1)The ideal stance is a stable, balanced position with more than 65% of weight on the right foot. There was significant difference in mean left plantar pressure, while the maximal plantar pressure and mean right plantar pressure did not differ significant. 2)The effective backswing of a skilled player is comprised a rightward shift in weight to build maximum energy. More than 90% of the weight was on the right foot. There was a significant difference in the mean left plantar pressure, while the maximal plantar pressure and mean right plantar pressure did not differ significantly. 3) For an effective impact, a rapid shift in weight to the left foot is essential, so that a power hit is obtained. Significant difference in the mean and maximum plantar pressures of both feet were observed. 4)Follow-through requires wight balance, more on the right than the left, without leaning leftward. There was no significant difference in the mean or maximum plantar pressure. 5)The center of plantar pressure should move from the center of the foot to the toe. 6)The analyses of the ground reaction force suggest that a good swing involves a gradual shift in weight to the right side and a rapid leftward shift at impact. Good balance, with the center of gravity on the right side at follow-through, is also required.

• 한국운동역학회지
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• 제15권2호
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• pp.1-10
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• 2005

G. B. LEE, A. S. GWON, The Research for Using methodof GRF (Ground Reaction Force) on Rotational Movement in Arabesque. Korean Journal of Sport Biomechanics, Vol. 15, No. 2, pp.1-10, 2005. As, in relation to all movements of a human being, the movements such as mutually walking, running, rotating, and jumping are attained endlessly through the ground amid the interaction with the ground, in terms of the harmonious movement of the upper limbs and the lower limbs, related to the basic movement in ballet, the type of a movement depends on the size and direction of the force that presses down the ground (Fz, Fx, Fy) amid the interaction with the ground. Therefore, aiming to correctly and efficiently perform a rotational movement in Arabesque, this study analyzed factors of the force manifestation through GRF (Ground Reaction Force), by dividing into preparing, stepping, standing, rotating, and finishing stages (events (1) ${\sim}$ (5)), targeting the subjects of 4 elite female students who majored in ballet. 1. At the No.5 position of the preparing stage, It is necessary that support the ground with left and right foot balance, 2. As the stepping stage is the phase ranging from the event (2), in which a plie movement of bending a knee is started, to the event (3) of stretching a knee, Rebunding motion is not good, and One have a position with ankle and knee flextion condition in order to stretch strengthly in event (3) position 3. At the event (1) position, It is necessary that exert the Fz reaction force at the event (3) position. Because large stretch force help to have a toe on position easily and show a active motion 4. In order to have a stand and rotation motion smoothly, One need a muscle strength training for ankle extension, knee extension, control horizental force