• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.1
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• pp.9-16
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• 2014

This paper presents the theoretical analysis of a flow driven by surface tension and gravity in an inclined circular tube. A governing equation is developed for describing the displacement of a non-Newtonian fluid(Power-law model) that continuously flows into a circular tube owing to surface tension, which represents a second-order, nonlinear, non-homogeneous, and ordinary differential form. It was found that quantitatively, the theoretical predictions of the governing equation were in excellent agreement with the solutions of the equation for horizontal tubes and the past experimental data. In addition, the predictions compared very well with the results of the force balance equation for steady.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.297-300
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• 2002

In this study, the deformation of the free surface motion of a magnetic fluid for the change in electromagnetic force is discussed and carried out theoretically and experimentally on the basis of Rosensweig Ferrohydrodynamic Bernoulli Equation. While applied magnetic fields are induced by 4$\times$4 electromagnet located under the magnetic fluid, the surface of the magnetic fluid is formed the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body farce. In case, magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. thus, the device of a magnetic fluid proposed the surface actuator. The device of surface deformation as well comparison between numerical simulation and experiments as will be presented.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.29-37
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• 2005

In this study, the control of the free surface deformation of a magnetic fluid for the change in electromagnetic force is discussed. The free surface of magnetic fluid is formed by the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. Magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. Thus, the device of a magnetic fluid proposed the complete zero-leakage sealing, oscillator for surface control, boundary layer control, MHD, flow control, flow using magnetic levitation system and surface actuator. This study show the deformation of surface rise due to the intensity of the magnetic field and possibility of two-dimensional control of magnetic fluid through the feedback data of hall sensor.

• PNF and Movement
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• v.14 no.2
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• pp.149-155
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• 2016

Purpose: The purpose of this study was to investigate the effects of using proprioceptive neuromuscular facilitation (PNF) exercise in the progressive sitting position on the dynamic balance ability of a patient with a cerebellar injury. Methods: The subject had ataxia due to cerebellar injury. The subject participated in a PNF bilateral scapular pattern exercise with stabilizing reversal technique during a progressive sitting position session as well as baseline for 20 minutes a day for 4 weeks. In the first session, PNF exercises were performed at a height of 40 cm for 10 minutes, and in the second session they were performed at 50 cm for 10 minutes from a lower center of gravity (COG) to a higher COG sitting position. We used the Berg Balance Scale (BBS), Five-Times-Sit-to-Stand Test (FTSST), and the Timed Up and Go Test (TUGT) to measure the subject's dynamic balance ability every two days through the entire session. Results: After participating in the program, the subject's dynamic balance ability improved compared to the first baseline, as measured by BBS (2 points increased), FTSST (5.3 sec decreased), and TUGT (2 sec decreased). The increase was also maintained in the second baseline session. Conclusion: PNF exercise using bilateral scapula patterns with a stabilizing reversal technique helps to enhance the dynamic balance ability of a cerebellar injury patient.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.3
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• pp.2126-2134
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• 2020

Background: Therapeutic climbing training, which originated in Germany, is a wall-hanging rock climbing-based therapy to increase the body's coordination through movement of the upper and lower limbs against gravity. However, there are no studies examining the effectiveness of therapeutic climbing training to treat balance and gait ability in patients with chronic stroke. Objectives: To investigate therapeutic climbing training program on balance and gait in patients with chronic stroke. Design: Pretest-posttest control group design. Methods: Fourteen patients with chronic hemiplegic stroke participated. Participants were randomized into the therapeutic climbing training group (TCTG, n=7) and the standard rehabilitation program group (SRPG, n=7) group. All subjects participated in the same standard rehabilitation program consisting of 60 minutes 5 times a week for 6 weeks. TCTG participated additionally in the therapeutic climbing program consisting of 30 minutes sessions 3 times a week for the same 6 weeks. Berg balance scale (BBS), Gaitview Measure, Timed up and go test (TUG) were measured. Results: In the TCTG, revealed a statistical difference in BBS between the groups; in the difference of plantar pressure ratio in the static standing position revealed a statistical difference between the groups after training; the balance ability in the one-leg standing tests increased significantly; the time in TUG decreased significantly after training in both groups; The changes in the difference of dynamic plantar pressure ratio were reduced significantly in the TCTG. Conclusion: Therapeutic climbing training contribute to improve balance and walking function in patients with chronic stroke.

• Physical Therapy Korea
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• v.6 no.3
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• pp.11-21
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• 1999

Human balance is maintained through a complex process involving sensory detection of body motions, integration of sensorimotor information within the central nervous system, and execution of appropriate musculoskeletal responses. The basic task of balance is to position the body center of gravity (COG) over some portion of the support base. When the COG extends beyond the base of support, the person has exceeded the limits of stability (LOS). At this point, a step or stumble is required to prevent a fall. Automatic postural responses operate to keep the COG over the base of support. They are a set of functionally organized, long-loop responses that act to keep the body in a state of equilibrium. There are four commonly identified automatic postural responses, or strategies. These are ankle strategy, hip strategy, suspensory (knee) strategy, and stepping strategy. Thus, the purpose of this study was to evaluate the LOS using various knee strategies. Forty subjects participated in this study. The subjects were comprised of 20 males and 20 females who were without neurologic, orthopaedic or balance performance impairments. The LOS was measured with a Balance Performance Monitor (BPM) Dataprint Software Version 5.3. The results of this study were as follows: 1) Knee joint angle which is to increase stability of standing balance with using knee strategy was at mid-range. 2) There were statistically significant differences in anteroposterior LOSs according to the knee strategy. 3) There were no statistically significant differences in mediolateral LOSs according to the knee strategy. 4) There were statistically significant differences of anteroposterior LOSs with using knee strategy according to gender. 5) There were no statistically significant differences in mediolateral LOSs with using knee strategy according to gender.

• The Journal of Korean Physical Therapy
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• v.33 no.1
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• pp.1-6
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• 2021

Purpose: This study examined the effects of heel insoles on the static balance and leg muscle activity and posture control strategy during external perturbation. Methods: Thirty healthy young men participated in the study. The subjects underwent two experimental conditions: 1) no heel insole condition (0cm) and 2) wearing heel insole condition (5cm). The static balance was measured using an I-Balance device, which measured the change in the center of gravity (COG). The onset time of muscle activation and muscle activation of the erector spinae (ES), hamstring (HAM), gastrocnemius (GCM) were measured using surface EMG electrodes to determine the change in posture control strategy during external perturbation. Results: The speed and distance of COG were significantly higher in the wearing heel insoles condition than the no heel insole condition (p<0.05). In addition, significant differences in the onset time of the GCM, HAM, and ES muscle activation were observed when there was no heel insole condition during external perturbation (p<0.017). On the other hand, no significant differences in the onset time of muscle activation were observed between GCM and HAM when wearing the heel insole condition during external perturbation (p<0.017). Moreover, muscle activation of the GCM was significantly higher in the wearing heel insoles condition than the no heel insole condition during external perturbation (p<0.05). Conclusion: These findings suggest that heel insoles may have disadvantages, and increased efforts are needed to maintain balance and change the posture control strategy during external perturbation.

• The Journal of Korean Physical Therapy
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• v.12 no.1
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• pp.65-71
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• 2000

This study investigated the effect of anticipatory postural adjustment on balance performance in postural disturbance. Any action performed by standing subject is generally accompanied by compensatory postural activities, which reduce or abolish the postural disturbance generated by the movement and keep the subjects' center of gravity within the supporting base. These Postural activities arc triggered by either anticipatory and feedback postural control. We studied the difference of anticipatory and feedback postural control in postural disturbance. The subjects were standing on a foot plate with eyes closed, holding a lead of $5\%$ of their own body weight in their hands. The condition of anticipatory postural adjustment was applied voluntarily releases the a load. The condition of feedback postural control was applied that the load was unpredictably removed. We concluded that anticipatory postural adjustment becomes more efficient to postural performance in postural disturbance.

• Journal of the Korea Institute of Military Science and Technology
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• v.3 no.2
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• pp.81-87
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• 2000

This paper presents an application of forced oscillation technique to measure pitch dynamic stability derivatives of a missile model in the low speed wind tunnel. The missile model is oscillated by D.C. electric servomotor with constant amplitudes and frequencies. Phase shift is determined as the difference of peak values between input and output signals from the dynamic stability balance installed at the center of gravity of the model. Stability derivatives were calculated by using phase shifts, amplitudes, forcing moments and input frequencies. Test results show the proper usage of the force oscillation technique with good damping effects.