• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.134.2-134
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• 2001

This paper treats the implementation of a statically stable control system for a biped walking robot with 10 degrees-of-freedom. Statically stable walking of a biped robot can be realized by keeping the center of mass (COM) inside the sole of the supporting foot (or feet) during single-support or double-support phases. We predetermined five static positions for walking based on the COM method. The positions can be represented by the length of the gait, the width between the feet, the height of the foot and two parameters in the hip movement. With the five parameters, we calculated the position trajectory. And we got the angular trajectories of 10 joints from the posit ion trajectory using the position tracking control and neural network. By tracking the angular trajectories, the robot can walk maintaining stability. We implemented walking of a biped robot throught the above ...

• 음성과학
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• 제14권2호
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• pp.139-155
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• 2007

Old Korean regulated poems have a typical prosodic structure characterized by a pitch contour. This work applies Jun's finding in Seoul Korean(Jun 1993, 2000, 2005) to old Korean regulated poems, and reports some other significant phonetic characteristics, arguing that old Korean regulated poems have a regular rhythm based on the pitch contour implementing the typically hierarchical prosodic structure. The major prosodic units defined are a foot, a phrase, and a line. Next, this work proposes pitch contour characterizing prominence in a unit, boundary tones, and pauses at the boundary position, as the basic and significant cues of rhythm of a Korean poem. Specifically, some significant characteristics are discussed as follows: first, the tonal pattern of a foot is HL, starting high and ending low; second, the lowering boundary tones of HL% and L% are perceived at the end of a phrase and a line; and finally, a gradient degree of pause is observed at each unit-final position.

• 대한족부족관절학회지
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• 제22권4호
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• pp.145-150
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• 2018

High ankle sprain (distal tibiofibular syndesmosis injury) occurs from rotational injuries, specifically external rotation, and may be associated with ankle fractures. The prevalence of these injuries may be higher than previously reported because they may be missed in an initial examination. Syndesmosis injury can lead to significant complications in injured ankle joints, so a precise physical examination and radiological evaluation is necessary. The most important treatment goal is to have the tibia and fibula located in the correct position with respect to each other and to heal in that position. The methods to fix these injuries is controversial.

• 재활복지공학회논문지
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• 제5권1호
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• pp.47-52
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• 2011

기능성 발보조기는 신발 착용 시 발바닥과 직접 접촉되어 비정상적인 신체 분절의 교정 및 발의 기능을 향상시킬 뿐만 아니라 체중 및 균형을 유지시키고 약화된 부위를 지지함으로써 사람의 직립자세 유지를 위한 균형 유지에 많은 도움이 된다. 이에 본 사례 연구에서는 보행 안정성을 비롯한 충격 흡수 기능을 수용할 수 있는 기능성 발보조기가 족부 형태 및 재질에 따라 신체의 균형유지에 미치는 영향에 대하여 연구하였다. 사람의 평균 무게 중심점의 흔들림 속도(sway velocity)를 이용한 균형감각 자세유지도의 고찰을 통해 족부형태별, 기능성 보조기의 재질에 따른 신체의 균형능력에 미치는 영향을 비교 평가한 결과, 안정한 상태에서 눈을 뜬 자세에서만 유의(p<0.006)한 결과를 나타냈으며, 이 자세에서 발의 형태별로 구분하여 통계 처리한 결과, 정상족(p<0.010), 편평족(p<0.000), 요족(p<0.003)의 순으로 나타났다. 그리고 기능성 발보조기의 재질에 따른 발의 형태별 균형에 미치는 영향을 분석한 결과, 연성재질은 정상의 발에서 그리고 경성재질은 편평족과 요족에 있어서 균형유지에 효과가 있는 것으로 나타났다.

• 대한기계학회논문집A
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• 제32권1호
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• pp.83-90
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• 2008

Taekwondo is a martial art form and sport that uses the hands and foot for attack and defense. Taekwondo basic motion is composed of the breaking, competition and poomsea motion. In the side kick among the competition motion, the impact force is larger than other kinds of kicks. The side kick with the front foot can be made in two steps. In the first step, the front foot is stretched forward from back stance free-fighting position. For the second step, the rear foot is followed simultaneously. Then, the kick is executed while entire body weight rests on the rear foot. In this paper, impact analysis of the human model for hitting posture is carried out. The ADAMS/LifeMOD is used in hitting modeling and simulation. The simulation model creates the human model to hit the opponent. As the results, the dynamic analysis of human muscle were presented.

• The Journal of Korean Physical Therapy
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• 제14권3호
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• pp.203-225
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• 2002

An excessive Q-angle has been implicated in the development of knee injuries by altering the lower-extremity locomotion kinematics. The purpose of this study was performed to examine the correlation between the Q-angle and the CTA during pronation and supination of the foot in the standing status. The participants of this examination were 60 adult(30 men and 30 women) who had no orthopaedic and neurological impairment, aged between 20 and 40years. The foot tilt(FT1)is made of acrylic plate and the slope of the surface is altered as $0^{\circ}$ pronation$(10^{\circ},\;20^{\circ},\;30^{\circ})$ and supination $(10^{\circ},\;20^{\circ},\;30^{\circ})$. The results were as follows : 1. The result about the Q-angle and the CTA by comparing pronation and supination of the foot There was statistical significance difference in the left /right Q-angle and the left/right CTA with pronation and supination of the foot(P<0.05). 2. The result about correlation in the left /right lower-extremity There were positive correlation between the right Q-angle and the right CTA and negative correlation except the supination$(30^{\circ})$ between the left Q-angle and the left CTA.

• 한국운동역학회지
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• 제22권2호
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• pp.229-236
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• 2012

The purpose of this study is to analyze the differences in foot type of female college students according to academic major in both feet. The subjects for this study were 216 female students who took liberal arts classes in Seoul. Dependent variables were students' field of study -specifically whether or not they majored in physical education. Analysis of students' foot type and Malalignment Syndrome were measured using Resting Calcaneous Stance Position (RCSP). There were five categories for RCSP angle: Severe Pes Planus (< $-5^{\circ}$), Pes Planus ($-3^{\circ}{\sim}-4^{\circ}$), Pes Rectus (${\pm}2^{\circ}$), Pes Cavus ($+3^{\circ}{\sim}+4^{\circ}$), Severe Pes Cavus (> $+5^{\circ}$). ${\chi}^2$ analysis was used for statistical analysis. RCSP for all subjects (432 feet) occurred at the following frequency: Pes Planus(43.9%), Pes Rectus(43.8%), and Pes Cavus(12.3%). These levels were different for physical education majors, with Pes Planus at 42.6%, Pes Rectus at 49.4%, and Pes Cavusat 8.0%. Non-physical education majors exhibited Pes Planus at 45.0%, Pes Rectus at 39.9%, and Pes Cavus at 15.1%. 15.3% (33 subjects) of all students had Malalignment Syndrome. In conclusion, 56.2% of female college students had a foot deformity. There was nearly four times more Pes Planus than Pes Cavus. According to these results, exercise can be prescribed to alleviate foot deformities, especially supination. Severe pronation and supination problems appeared less amongst students not majoring in physical education. Thus, although exercise might be one cause of foot deformity, it can also help resolve problems with over-supination. Further study will be needed to understand and resolve the specific mechanism of over-supination.

• 한국전문물리치료학회지
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• 제25권4호
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• pp.19-26
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• 2018

Background: Alignment of the lower limb is an important factor, influencing balance and gait in kinematics and kinetics, in patients with and without a flat arched foot. Flat arched foot are associated with the range of motion (ROM) of the hip and alignments of the knee joints, is strongly influenced. Objects: The purpose of this research was to investigate the relationship between hip joint ROM and quadriceps angle (Q-angle), by dividing them into two groups according to the presence or absence of flat feet, using a navicular drop test (NDT) and resting calcaneal stance position (RCSP). Methods: Forty elderly patients were allocated to the experimental group (flat foot group, n1=20) or the control group (non-flat group, n2=20). Universal and digital goniometer, tractograph and tape measure were used to determine the related changes in the hip ROM, Q-angle, NDT and RCSP. Results: Data were analyzed using the Pearson correlation coefficients. Active internal ROM of the hip joint (right, r=.803, p<.001), (left, r=.951, p<.001) were highly correlated with NDT, and also, was moderately correlated with Q-angle (right, r=.562, p=.019), (left, r=.757, p<.001). Passive internal ROM of the hip joint (right, r=.742, p=.001), (left, r=.922, p<.001) were highly correlated with NDT, and also, was moderately correlated with RCSP (right, r=-.530, p=.029) and with Q-angle (right, r=.710, p=.001), (left, r=.698, p=.002) in the flat foot group. However, no strong correlation among the hip ROM, NDT, RCSP and Q-angle were found in the non-flat foot group. Conclusion: This research may provide evidence of the correlations between hip internal ROM and flat foot.

• 한국운동역학회지
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• 제17권3호
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• pp.189-195
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• 2007

The purpose of this study was to analyze the effects of shoes with curved out-sole on the pressure, reaction force(sum of pressure) on foot and relations between the rolling speeds and pronation of foot. The foot pressure, reaction force and pressure center on the foot surface of shoe were measured with NOVEL padar system, and 3 type shoes were used to compare the position and speed of pressure center and the foot reaction force, which were s(target) shoe with soft cushions in middle part of out-sole and curved out-sole, m shoes with two type- soft, hard, hardness out-sole and curved out-sole and n shoes with flat out-sole. The subjects were 13 female university students, had weared the 3 type shoes for 6 weeks on two-weeks shifts for adaptation before experiment and put on 3-type shoes repeatedly and randomly and walked on treadmill with 3.5km/h and 80 steps/min. The data were captured with 30Hz and readjusted with 5kgf threshold reaction force. The results can be summarized as follow. 1. There were no difference in maximum reaction force on initial contact period and total foot impact, but statistical difference in maximum reaction force on takeoff period : s, m, n in ascending order. 2. There were some difference in rolling speeds for support periods. At initial contact, the rolling speed of s shoes was fastest but at periods between first and second maximum reaction force, that of m shoes fastest. 3. There was a negative relation between rolling speeds and the length of lever arm on initial reaction force related to pronation. It seems shoes with various curved shapes and hardness could make effects on the rolling features and the rolling speed also have some relationships with walking efficiency, absortion of impact and pronation.

• 한국방사선학회논문지
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• 제15권7호
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• pp.1007-1013
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• 2021

본 연구는 유아 발의 합성 전후축방향 엑스선 촬영에서 발전체가 다리와 겹침 없이 균일한 농도와 선예한 영상을 평가하기 위하여 Receiver Operating Characteristic 와 Signal to Noise Ratio 분석 결과 Cronbach Alpha 값이 0.813로 유의하게 높았으며 신호대잡음비(SNR)의 연구에서는 발허리뼈에서 발꿈치뼈를 향하여 엑스선관을 10° 기울여 검사 시 5.948 높게 나타났으며, 발꿈치뼈에서 발허리뼈를 향하여 엑스선관을 20° 기울여 검사 시 6.957으로 가장 높았다. 또한, 주관적평가에서는 발허리뼈에서 발꿈치뼈로 10° 기울려 검사시 18점으로 높은 점수를 얻었으며, 발꿈치뼈에서 발허리쪽뼈을 향하여 엑스선관을 20° 기울여 검사 시 18 점을 얻었다. 본 연구의 결과 유아 발 합성 전후축방향 검사 시 엑스선관을 발허리뼈 뒤쪽으로 10° 기울였을 경우와 발꿈치뼈에서 전방으로 20° 기울였을 때 균일한 농도와 선예한 영상을 얻을 수 있다.