• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.209-215
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• 2022

In this paper, a forearm Mechanism design inspired by ligamentous structure of the human body is proposed. The proposed mechanism consists of four rigid bodies and fourteen wires without any mechanical joints. Actually, the mechanism is based on the concept of the tensegrity structure. Therefore, the proposed mechanism has inherently compliant characteristics due to the flexibility of the wires composing the structure. Rigid bodies and wires of the mechanism mimic bones and major ligaments in the forearm of the human. The proposed mechanism is classified as one of the interconnected hybrid flexure systems. The analysis method of the degree of freedom (DOF) of the proposed mechanism is also introduced through analyzing technique of the interconnected hybrid flexure systems, in this paper. Ultimately, the proposed mechanism, whose structure is complicated with rigid bodies and wires, mathematically drives that it has 3-DOFs.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• The Korean Journal of Pain
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• v.9 no.1
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• pp.195-199
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• 1996

Based on points of neuroendocrine physiology, stimulus developed at the acupuncture site can pass to the pituitary gland through somatosensory and activated descending inhibitory mechanism which originated in raphe magnus of midbrain. For the operation of mandible fracture, acupuncture anesthesia was performed at 6 points of both forearm and both feet by method taking point on distant segment. Acupuncture anesthesia deals with central analgesic mechanism and the theory of diffuse noxious inhibitory control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.5
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• pp.415-420
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• 2017

Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.

• Korean Journal of Applied Biomechanics
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• v.29 no.4
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• pp.219-226
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• 2019

Objective: The purpose of this study is to provide a better understanding of short turn mechanism by describing short turns after kinematic analysis and provide skiers and winter sports instructors with data through which they are able to analyze right postures for turns in skiing in a systematic, rational and scientific manner. Method: For this, a mean difference of kinematic variables (ski-hip angle, ski-shoulder twist angle, pole checking angle, the center of gravity (CG) displacement, trunk forward lean angle) was verified against a total of 12 skiers (skilled and unskilled, 6 persons each), regarding motions from the up-start to down-end points for short turns. Results: There was no difference in a ski-hip twist angle. The ski-shoulder twist angle was large at the up-start point while a pole-checking angle was high at the down-end point in skilled skiers. Concerning the horizontal displacement of CG, skilled skiers were positioned on the right side at the upstart point. No significant difference was observed in the trunk forward lean angle. Conclusion: According to the ski-shoulder twist angle and CG horizontal displacement results, the upper body should be kept leant toward the pole. In addition, big turns should be made via edging and angulation. During pole checking, the hand holding the pole should be thrown and released toward a vector direction of the forearm.

• Clinical Pain
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• v.19 no.2
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• pp.129-132
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• 2020

Fracture is uncommon cause of lymphedema. The mechanism of lymphedema progression is still unknown, but disruption of the lymphatic system during and after fracture might be involved. In contrast, breast cancer surgery is a common cause of lymphedema and is usually caused by the removal of axillary lymph nodes. Sentinel node biopsy (SNB) has been adopted in early breast cancer to reduce the risk of lymphedema. Thus, the incidence of lymphedema in SNB was lowered. However, less than 10% of SNB patients are still diagnosed with lymphedema, but it is known that it took years to diagnose. Recently, we encountered atypical lymphedema occurred after breast cancer surgery with SNB. Symptoms started earlier than usual and were more severe. Interestingly, she has a history of a proximal radial fracture on the same side of SNB. We thought there could be a relationship between the acceleration of breast cancer-related lymphedema and fracture.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1741-1747
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• 2010

This work presents a study on the design of an economic service robot hand for tele-presence manipulators. The conceptual design of new robot hand is derived from biomimetics approach. Guided by the analysis of human arm' musculoskeletal structure, the fingers are actuated by cables and actuators in the forearm. High tension in the cables is achieved by screw-nut mechanism driven by DC motors. A set of combination springs is incorporated in each of the screw-nut mechanism for easy control of gripping force. The first prototype revealed difficulties with finger control and coupling problem between gripping force and wrist movement. The solutions to these problems have been derived from the contradiction analysis of TRIZ. The second design has been verified by tests on various objects with different weight and shape for full range of wrist motion.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Tuberculosis and Respiratory Diseases
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• v.44 no.5
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• pp.1040-1050
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• 1997

Pulmonary rehabilitation has been known to improve dyspnea and exercise tolerance in patients with chronic lung disease, although it does not improve pulmonary function. The mechanism of this improvement is not clearly explained till now; however some authors suggested that the improvement in the skeletal muscle metabolism after the rehabilitation could be a possible mechanism. The metabolc changes in skeletal muscle in patients with COPD are characterized by impaired oxidative phosphorylation which causes early activation of anaerobic glycolysis and excess lactate production with exercise. In order to evaluate the change in the skeletal muscle metabolism as a possible cause of the improvement in the exercise tolerance after the rehabilitation, noninvasive $^{31}P$ magnetic resonance spectroscopy(MRS) of the forearm flexor muscle was performed before and after the exercise training in nine patients with chronic lung disease who have undertaken intensive pulmonary rehabilitation for 6 weeks. 31p MRS was studied during the sustained isometric contraction of the dominant forearm flexor muscles up to the exhaustion state and the recovery period. Maximal voluntary contraction(MVC) force of the muscle was measured before the isometric exercise, and then 30% of MVC force was constantly loaded to each patient during the isometric exercise. After the exercise training, exercise endurance of upper and lower extremities and 6 minute walking distance were significantly increased(p<0.05). There were no differences of baseline intracellular pH (pHi) and inorganic phosphate/phosphocreatine(Pi/PCr). After rehabilitation pHi at the exercise and the exhaustion state showed a significant increase($6.91{\pm}0.1$ to $6.99{\pm}0.1$ and $6.76{\pm}0.2$ to $6.84{\pm}0.2$ respectively, p<0.05). Pi/PCr at the exercise and the recovery rate of pHi and Pi/PCr did not show significant differences. These results suggest that the delayed intracellular acidosis of skeletal muscle may contribute to the improvement of exercise endurance after pulmonary rehabilitation.

• The Korean Journal of Physiology
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• v.4 no.1
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• pp.19-28
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• 1970

In order to investigate the changes in the temperature regulation mechanism following ingestion of red pepper, twenty healthy man were given 2 gms of powdered red pepper each in 100 ml of water at room temperature, $20^{\circ}C$, Simultaneous recordings of temperature and electrical resistance of the skin of forehead were taken by means of Physiograph, using appropriate transducers. Temperature of various spots such as the cheek, upper tack and the forearm was also measured by the telethermometer at interval of two minutes. The results obtained were as follows: 1. Seventeen out of 20 subjects showed immediate rise in the skin temperature of the forehead, and 11 of them manifested the oscillating pattern of the skin temperature. The average of the largest peak amplitude was $0.58{\pm}0.355^{\circ}C$. 2. Even those who failed to show the immediate rise in the temperature did not keep the quiescence over 9 minutes, and delayed responses were revealed. 3. The rise in tile skin temperature is the favourable sign for the heat discipating mechanism only because the sweat glands are activated with the concomittant rise in the temperature of the skin. 4. There was a preceding or coincide fall in the electrical resistance of the skin, and it was also attributed to the glandular activity. 5. At rather cool room temperature, $20^{\circ}C$, no visible sweat was seen during the period of observation. Nevertheless it was obvious that latent activation of the sweat glands was triggered and the. threshold was lowered. This situation imitates the acclimatized condition in the hot environment, and it is likely to increase the tolerance in tropical climate from the view point of temperature regulation.