• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• Journal of Korean Foot and Ankle Society
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• v.19 no.1
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• pp.35-38
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• 2015

The checkrein deformity describes tethering of the flexor hallucis longus tendon, which mainly occurs after fracture of the distal tibia. The deformity increases with dorsiflexion of the ankle and decreases or disappears with plantarflexion of the ankle. In some cases, the deformity may occasionally include the second and third toes. In the current study, the authors experienced secondary checkrein deformity of all lesser toes after open reduction and plate fixation for comminuted fracture of the calcaneus. As a treatment, plate and screws were removed, followed by an additional medial incision which showed a partially ruptured flexor digitorum longus tendon with severe adhesion. Resection of the adhesed tendon and tenodesis of its distal portion to the flexor hallucis longus was performed for correction of the checkrein deformity. Then the lessor toe checkrein deformity recovered immediately. The authors report on this rare lessor toe checkrein deformity after calcaneal fracture fixation with a review of literature.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1097-1102
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• 2007

This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• The Journal of Korean Physical Therapy
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• v.16 no.2
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• pp.99-107
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• 2004

The purpose of this study was to investigate the effect of foot orthotic on postural sway. Subjects were 15 patients(7 men and 8 women) who prescribed foot orthotic at B hospital and L rehabilitation medicine clinic in Seoul. Postural sway during a single limb stance was measured using the CMS 10 Measuring System when subjects positioned on the balance trainer under two treatment conditions(orthotic and nonorthotic). RCSP(resting calcaneal stance position) while subjects were standing on the glass plate was measured using the angle finder after subjects were positioned in prone to divide equally lower leg and calcaneus using the goniometer. The result was as follows. There were significant difference between postural sway of orthotic and nonorthotic conditions(t=4.888, 4.589, p<0.001), and the leg of the small RCSP within a subject has the small postural sway index($x^2=26.000$, p<0.001). In conclusion, foot orthotics provide structural support for detecting and controlling postural sway in patients prescribed foot orthotics.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.5
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• pp.164-170
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• 2008

A typical clutch system for automotive manual transmissions transfers hydraulic pressure generated by driver's pedal manipulation to the clutch diaphragm spring. The foot effort history during the period of push is different than the period of the clutch pedal's return. The effort or load difference is called clutch foot effort hysteresis. It is known that the hysteresis is caused by friction. The frictional force and moment are produced between various component contact points such as between the rubber seal and the inner wall inside the hydraulic cylinder and between the diaphragm spring and the pressure plate, etc. Understanding the clutch pedal foot effort hysteresis is essential for a clutch release system design and analysis. The dynamic model for a clutch release system is developed for the foot effort hysteresis prediction and a simulation analysis is performed to propose a tool for analysing a clutch system.

• Korean Journal of Applied Biomechanics
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• v.26 no.4
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• pp.343-351
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• 2016

Objective: The purpose of this study was to help improve game performance and provide preliminary data to enhance the efficiency of the kick and stability of the support foot by comparing the kinematic characteristics of the repeated side kick (geodeupyeopchagi) in poomsaeKoryo between expert and non-expert groups. Method: The subjects were divided into 2 groups according to proficiency in Taekwondo, an expert group and a non-expert group (n = 7 in each group), to observe the repeated side-kick technique. Four video cameras were set at a speed of 60 frames/sec and exposure time of 1/500 sec to measure the kinematic factors of the 2 groups. The Kwon3D XPprogramas used to collect and analyze three-dimensional spatial coordinates. Ground reaction force data were obtained through a force plate with a 1.200-Hz frequency. An independent samplesttest was performed, and statistical significance was defined as .05. The SPSS 18.0 software was used to calculate the mean and standard deviation of the kinematic factors and to identify the difference between the experts and non-experts. Results: The angular displacement of the hip joint in both the expert and non-expert groups showed statistical significance on E1 and E4 of the left support foot and E5 of the right foot (p<.05). The angle displacement of the knee joint in both groups showed statistical significance on E4 of the left support foot, and E1 and E2 of the right foot (p<.05). The angular velocity of the lower leg in both groups showed no statistical significance on the left support foot but showed statistical significance on E2 and E6 of the right foot (p<.05). The angular velocity of the foot in both groups showed no statistical significance on the left support foot but showed statistical significance on E2 of the right foot (p<.05). The vertical ground reaction force in both groups showed statistical significance on E2 (p<.05). The center of pressure in all directions in both groups showed statistical significance (p<.5). Conclusion: While performing the repeated side kick (geodeupyeopchagi), the experts maintainedconsistency and stability of the angle of the support leg while the kick foot moved high and fast. On the other hand, the angle of the support foot of non-experts appeared inconsistent, and the kick foot was raised, relying on the support leg, resulting in unstable and inaccurate movement.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.55.1-55
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• 2001

Foot, as a supporting base of human body, Is very important and has essential role during standing and walking those are our everyday physical movements. So lots of researches about the foot have been done for clinical purpose and ergonomic needs. Most of those researches are related to pressure distribution between the soles of the feet. Usually force plate or pressure sensor is used to obtain proper characteristic data from foot. But these expensive devices are not easy to attach to the sole of the subjects and it is unnatural for the subject to move with these devices. As one of method of measuring foot, gridded sole image is used. But the obtained image is very hard to be recognizable because of the image is composed with the ...

• Journal of Korean Foot and Ankle Society
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• v.15 no.3
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• pp.153-158
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• 2011

Purpose: This study was performed retrospectively and to compare the clinical outcomes of the surgical management using Antiglide plating and lateral plating for Danis-Weber type B isolated lateral malleolar fractures. Materials and Methods: Between March 2004 and March 2009, 92 patients were followed up for more than 6 months after surgical treatment. 49 patients were treated with Antiglide plating, whereas the remaining 43 patients underwent lateral plating. The results of the two groups were analyzed both radiographically and clinically using Ankle scoring system. Results: Both groups were comparable for age, sex distribution, time to surgery, and operation time. Bone union was noted at average of 8 weeks in all fractures. The mean ankle score was similar in both groups (94% versus 93%). Conclusion: Antiglide plating for Danis-Weber type B isolated lateral malleolar fracture is one of the good methods which has some advantages such as early ankle motion, ambulation and smaller operative incision.

• Journal of Korean Foot and Ankle Society
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• v.19 no.3
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• pp.86-90
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• 2015

Purpose: We analyzed and compared the clinical and radiologic results between minimally invasive plate osteosynthesis and internal fixation using intramedullary (IM) nail in the treatment of distal tibia fractures. Materials and Methods: From March 2005 to June 2013, 65 cases of distal tibia fractures treated with either plate fixation or IM nail fixation were analyzed retrospectively by clinical and radiologic evaluations. The clinical results were compared using the American Orthopaedic Foot and Ankle Society (AOFAS) score, Olerud-Molander ankle score (OMAS), and visual analogue scale (VAS) score at the last follow-up. The radiologic results were compared by time to bone union, complications such as nonunion, delayed union, and malunion. Results: The clinical results (according to OMAS, AOFAS score, and VAS score) were 77.47, 84.76, and 1.75, respectively, in the plating group, and 90.21, 91.00, and 1.25, respectively, in the nailing group, and there was no statistically significant difference. Plating group showed earlier union than the nailing group and the nailing group showed higher frequency of non-union and delayed union than plating group. Conclusion: In treatment of distal tibia fractures, two methods showed appropriate results. Therefore, thorough investigation of the types of fracture, state of soft tissues, and advantages and disadvantages of the two methods should be conducted in the treatment of distal tibia fractures.

• Journal of Korean Foot and Ankle Society
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• v.15 no.3
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• pp.139-143
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• 2011

Purpose: The purpose of this study was to introduce the 'Matrixplasty' for the treatment of a severely incurved toenail with growth plate deformity and to report our results treating this disease entity. Materials and Methods: Between January 2010 and May 2010, 48 consecutive patients (62 cases) underwent treatment of symptomatic incurved toenails with the 'matrixplasty'. The mean period of time at last follow-up was $14.0{\pm}1.3$ months. The recurrence rate and complication rate were evaluated. An American Orthopedic Foot and Ankle Society (AOFAS) forefoot hallux score was assigned and patients were evaluated at pretreatment and the last follow-up meeting. For evaluation of improvement in toenail shape, the center to edge angle of the toenail was measured at pretreatment and last follow-up. Results: All ingrown toenails healed and the nail deformity was corrected within 3 weeks after the procedure. Among the 62 cases, four cases had recurred by the last follow-up. The mean pretreatment AOFAS forefoot hallux score was $73.1{\pm}12.8$, and it improved to $98.7{\pm}1.1$ by the last follow-up (p<0.01). The mean center to edge angle of the toenail improved from $53.3{\pm}12.9$ degrees to $18.2{\pm}7.4$ degrees by the last follow-up (p<0.01). Minor paronychia, which was managed with local wound dressing and oral antibiotics, was identified in eight cases. Conclusion: Matrixplasty showed excellent clinical results in the treatment of severe incurved toenail (pincer nail) and this procedure also showed great improvement of the deformed toenail and its growth plate.