• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.548-555
• /
• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Journal of Physiology & Pathology in Korean Medicine
• /
• v.17 no.3
• /
• pp.617-623
• /
• 2003

The following conclusions are drawn from a review on the theory of correlation between the jang-bu organs in 'Ojangchunchaklon(五臟穿鑿論)' which is quoted in 'Uihakipmoon(醫學入門)' and 'Donguibogam(東醫寶鑑)'. The three yangs and three yins are trisections each of yang ki and y1n ki. They represent three aspects of change in powers of yin ki and yang ki. The theory of Kaehapchu(開闔樞 the opening, closing and pivot) is thought to be the concept which explains the three states of jang-bu organs and meridians in terms of three yangs and three yins. The three yangs and three yins are assigned to twelve months according to the generation, prosperity and vanishment of the water, the fire, the wood and the metal in the circulation of nature with the lapse of time. Most of all, the change of the water and the fire is the main guide to the assignment. Both the theory of exterior-interior relations in jang-bu organs and meridians and the theory of Kaehapchu are founded on the assignment of three yangs and three yins to twelve months. The correlation between jang-bu organs is based on the monthly assignment of three yangs and three yins described in 'Internal classic(內經)' and the theory of Kaehapchu. In the correlations between jang-bu organs and meridians, the exterior-interior relations are the correspondences of Hand to Hand and Foot to Foot. but the relations of Kaehapchu are those of Hand to Foot and Foot to Hand. Jeesan's diagram of pulse is grounded on the correlations between jang-bu organs. On the left of the diagram, jang organs are arranged in the order of hierarchic positions in body. On the right, bu organs are disposed according to the correlations with the jang organs. Jeesan's diagram includes the principles of triple harmony and diagonal groups in twelve earthly branches(十二支). Jeesan's diagram is the frame through which correlations of jung-ki-shin-hyul, five jang and six bu organs, twelve meridians and six intrinsic factors can be observed at once.

• Korean Journal of Applied Biomechanics
• /
• v.16 no.4
• /
• pp.21-30
• /
• 2006

The purpose of the study is to search for the possibility of the application of kinematics analysis to physical education at schools and expand its scope of application. This study chose 9 college students majoring in physical education and classified them into type A group who can make the straight, vertical handstand, type B group whose waist is bent, type C group who cannot handstand completely. The center of mass, distance between hand and leg, and the angle and angular velocity of each joint were obtained. The result of this study is this. 1. The time for CM showed 6:4 for A group and 5:5 for B and C groups. The distance between hand and foot in the event 3 was 44% of the height for A group, and 41% for B and C groups. A Group showed the higher CM positional significant difference, it was vertically direction below the hip joint at front. For significant difference of the B Group showed horizontal and vertical velocity of the CM, the highest vertical was obtained in phase 3. The difference of angle of shoulder join in the flexion/extension was showed gradually extension event 2 and the height angular velocity was at phase 3 in the A group. 2 The analysis of the handstand motion revealed that the phase 3, but the maintenance of posture start part the handstand is also very important. Through these results, this study confirmed that the time for phase of the CM, horizontal and vertical positions, velocity, the distance between hands and foot, and the difference of the angle and angular velocity of hip joint and shoulder joint can be set as the variables of analysis. It was also definite cause that the handstand motions of college students majoring in physical education had many difference in performance.

• Journal of the Korean Society of Physical Medicine
• /
• v.7 no.4
• /
• pp.459-469
• /
• 2012

PURPOSE: The purpose of the present study was to examine changes caused by asymmetric bag carrying methods to carry the bag with one shoulder only to plantar pressure during walking. METHODS: Twenty three normal adults without any gait problem participated in the present study. Experimental conditions used consisted of walking without carrying any bag(condition 1), walking wearing a bag on both shouders (condition 2), and walking wearing a bag on the right shoulder(condition 3) and the weight of the bag was set to 15% of each subject's body weight. All the subjects were instructed to participate in all experiments under these three conditions and plantar pressures were measured from the subjects' right and left feet using an F-scan system while the subjects were walking under the three conditions. To analyze the measured plantar pressure, the sole was divided into seven areas (Hallux, Toe, Met1, Met23, Met45, Mid foot and Heel) and maximum plantar pressures in individual areas were measured. RESULTS: The results of measurement of plantar pressures under three walking conditions did not show significant changes in any areas of the left and right feet except for the mid foot area of the right food. The asymmetry between the left and right feet was examined and the results showed significant differences only in area Met23 under condition 2 and did not show significant differences in any other areas. CONCLUSION: On comprehensively considering the results of the present study, it could be seen that asymmetric bag carrying did not have large effects on changes in plantar pressure during walking compared to symmetric carrying. The reason for this is considered to be posture adjusting mechanisms against load positions.

• Physical Therapy Korea
• /
• v.28 no.2
• /
• pp.108-116
• /
• 2021

Background: Whole-body vibration (WBV) has been used to alleviate proprioceptive damage by musculoskeletal and neurological conditions. However, no study has determined whether wearing shoes while applying WBV can affect proprioception precision of the knee joint. Objects: This study aimed to determine the differences in the proprioceptive precision of the knee joint before and after WBV and to compare the proprioceptive precision of the knee joint between barefoot and shoe-wearing conditions. Methods: This study recruited 33 healthy participants. A passive-to-active angle reproduction test was used to measure the proprioception precision of the knee joint using an electrogoniometer, and the target angle was set to a knee flexion of 30°. Proprioception precision was calculated using the error angle (angular difference from 30°). Proprioceptive precision was measured in weight-bearing and non-weight-bearing positions before and after applying WBV for 20 minutes at 12 Hz in barefoot and shoe-wearing conditions. Mixed repeated analysis of variance was used to determine the differences in changes in the proprioceptive precision of the knee joint according to foot conditions. Results: There were significant improvements in the weight-bearing (p = 0.002) and non-weight-bearing (p < 0.001) proprioceptive precision of the knee joint after applying WBV. However, there was no significant difference in the change in proprioceptive precision of the knee joint after applying WBV between the barefoot and shoe-wearing conditions. Conclusion: WBV stimulation had an immediate effect on improving the proprioceptive precision of the knee joint. However, foot conditions (barefoot or shoe-wearing) during WBV application did not influence the proprioceptive precision of the knee joint.

• Journal of The Korean Astronomical Society
• /
• v.28 no.1
• /
• pp.89-95
• /
• 1995

We examined a total of 166 images of $3.5{\mu}m\;H_3^+$ emission in the auroral regions of Jupiter observed with the Protocam on IRTF in 1991 and 1992, and found that 30 images contain a clearly isolated small emission patch in the vicinity of the northern auroral regions. Two different time sequences of the images show the small patches at the dusk limb in the range of System III longitudes from $270^{\circ}\;through\;0^{\circ}\;to\;90^{circ}$. The small patches in one sequence of the images, which were taken at 10 phase between $240^{\circ}\;and\;260^{\circ}$, may be related to the 10 flux tube, similarly suggested by Connerney et al. (1993). However, the small patches in the other sequence are separated from Io as much as $80^{\circ}$ in longitude. The positions of the small patches in both sequences are deviated equatorward from the 10 footprint oval by $5^{\circ}-8^{\circ}$ latitude in the longitudinal range of $270^{\circ}-360^{\circ}$. A significant modification is required in current Jovian magnetic field models near the Jupiter's surface if the small patches are produced at the foot of the 10 flux tube.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.7 s.166
• /
• pp.1155-1163
• /
• 1999

This study deals with the vibration ride quality for passenger car when running on straight highway at the speed of 70km/h. Ten accelerations were measured at four positions, three axes each at the feet, hip, and head, and one axis at the back. Five seats that have different static sponge stiffness were used, and two subjects were participated. These accelerations were analyzed to produce the ride values such as component ride value and overall ride value. It was hard to see the difference of ride value by the change of sponge stiffness. However we could rank the ride quality by the total vibration exposed to passengers. From the transfer function between the hip and the foot, the fundamental mode was observed to be around 5.8Hz. Also the transfer function between the head and hip was studied. The optimal damping ratio of the seat was calculated according to the seat natural frequency with human weighting filter which makes the optimal damping ratio different from that without weighting filter.

• Advances in Automotive Engineering
• /
• v.1 no.1
• /
• pp.61-77
• /
• 2018

In this study, the effects of sitting position of the driver on the whiplash neck injury have been analyzed experimentally by using hybrid III series 50 percentile male crash test dummy. A testing platform consisting of vehicle ground, driver foot rest, driver seat and a 3-point seatbelt has been prepared. This testing platform and the instrumented crash test dummy are prepared for tests according to the Euro NCAP whiplash testing protocol. The prepared test set-up has been exposed to 3 different acceleration-time loading curves defined in the Euro NCAP whiplash testing protocol by performing sled tests. 9 different sled tests have been performed with the combinations of 3 different seating positions of the crash test dummy and 3 different acceleration-time loading curves. The sensor data obtained from the crash test dummy and high-speed videos taken are analyzed according to the injury assessments criteria defined in the Euro NCAP whiplash testing protocol and the criticality of the whiplash injury is defined. It is seen that the backset distance of the driver head with the headrest and the height difference of the top of the head of the driver with the headrest have a great importance on whiplash injuries.

• Korean Journal of Applied Biomechanics
• /
• v.24 no.3
• /
• pp.277-285
• /
• 2014

Nakcyguri is one of the offensive weapons most often used in Taekkyon games, The purpose of this study was to investigate kinetic factors on two types of Nakcyguri, one of which uses hip bending and the other uses little it. 12 taekkyoners (males) who are the students of Y University participated in this study. They have been practicing on Taekkyon for five years or more. Positions of CoM, the elapsed time of each phase, ROM of joint and segment angles, ground reaction forces, joint moments of supporting leg were analyzed for this study. The results were as follows; in Nakcyguri with hip bending than without hip bending, anterior/posterior ROM of pelvis, head and swing foot were larger by flexing-extending more, and both vertical and posterior components of GRF were larger during phase 4. It was considered that hip bending produced posterior momentum as well as vertical momentum of trunk during Nakcyguri. In conclusion hip bending was essential and so useful to the successful attack.

• Korean Journal of Applied Biomechanics
• /
• v.23 no.2
• /
• pp.131-139
• /
• 2013

Naejirgi is one of the fastest, most forceful and most often being used kicks in Taekkyon games, The purpose of this study was to investigate kinetic factors on two types of Naejirgi kick, one of which uses knee bending of supporting leg and the other uses little it. 12 taekkyoners (11 males and one female) who are the students of Y University participated in this study. They have been practicing on Taekkyon for five years or more. Positions of CoM, the elapsed time of each phase, vertical ground reaction forces, joint moments and impulses of supporting leg were analyzed for this study. The results were as follows; in Naejirgi with knee bending of supporting leg than without knee bending of supporting leg, the vertical motion range of whole body CoM was larger during phase 2 and 3, the elapsed time of phase 4 were longer, players stayed longer in the nearest location to opponent, during phase 4 the vertical ground reaction forces of supporting foot were larger, and joint extension moments and angular impulses of supporting leg (especially knee) were larger. In conclusion supporting knee bending is not a useful strategy for Naejirgi, because players stay longer in the nearest position to opponent and consumed more muscle force and energy for producing the vertical momentum which is unnecessary for pushing down the opponent.