• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.57-65
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• 2011

This research was conducted to biomechanically analyze Tippelt motion in parallel bars, and establish technical understanding. To achieve that goal, the performances of the Tippelt acts carried out by five world top-class national gymnasts in the parallel bars 3-dimensional cinematographic analysis and EMG analysis were conducted and following conclusion were obtained. The Tippelt motions of excellent national gymnasts perform tap motion through the down swing of a large circular movements, and perform kick-out motion rapidly extending shoulder joint angle and hip joint angle with the trunk in a position close to perpendicular position at the vertical downwardness of the grasping the bars. At this time, if handstand starting the movement is too delayed or rapidly down swung, it was shown that from the initial falling, unnecessary muscular power was wasted in trapezius, anterior deltoid, erector spinae, latissimus dorsi, upper rectus abdominis, lower rectus abdominis. The muscular parts in tap motion generating muscle action potential were pectoralis major, rectus femoris, upper rectus abdominis, lower rectus abdominis, and those in kick-out motion were upper rectus abdominis, lower rectus abdominis, trapezius and anterior deltoid.

• Korean Journal of Applied Biomechanics
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• v.15 no.3
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• pp.61-70
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• 2005

The purpose of study was to investigate the kinematic variables of Kenmotsu motion in Parallel bars. To this study, by 3 dimensional kinematical analysis of 4 male national gymnasts participants in the 28th Athens Olympic Game in 2004, kinematic data collected using video camera. Coordinate data were smoothed by using a fourth-order Butterworth low pass digital filter with cutoff frequency of 6Hz. The conclusions were as follows. 1. In P2, because the constrained swing movement made the movement of a rising back difficult7, the movements of Reg. were performed at low position after Air phase. 2. In E5 event, for the shake of a stable handstand and applied techniques like a Belle(E-value), a Belle Piked(super E-value), a vertical velocity in E2, a horizontal velocity in E3 and a vertical velocity in E4 were necessary for high velocities. 3. In E4 event, it was appeared that for a flexible body's movement of a vertical up-flight, the large angle of the shoulder joint and the flexion & extension of the hip joint were necessary in Air phase and a long flight time and vertical displacement made Reg. movements stable at the high position.

• Journal of The Korean Society of Integrative Medicine
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• v.7 no.4
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• pp.33-41
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• 2019

Purpose : The muscle strength of iliopsoas (IL) was measured commonly in sitting position with hip and knee flexed 90°. However, there is no study to determine the muscle strength of IL in various test positions. Therefore, the purpose of this study was to compare the muscle strength of IL and muscle activity of rectus femoris (RF) according to test position and knee flexion angle. Methods : Twenty healthy subjects were participated for this study. The muscle strength of IL and muscle activity of RF were measured by hand-held dynamometer and surface electromyography during maximum voluntary isometric contraction (MVIC) of IL, respectively. The muscle strength of IL and muscle activity of RF was measured in 4 conditions as follows; 1) knee flexion angles 90 ° in supine, 2) 130 ° in supine position, 3) 90 ° in sitting, 4) 130 ° in sitting. Each condition were performed randomly by three repetitions. Results : The muscle strength of the IL was the main effect on the test position and knee flexion angle (p<.05), and the muscle activity of RF was the main effect only on the knee flexion angle (p<.05). There was also no interaction between the factors (p>.05). In supine position, the muscle strength of IL in knee flexion 130 ° was significantly less than that in knee flexion 90 ° (p<.0125). In knee flexion 90 °, the muscle strength of IL in supine position was significantly greater than that in sitting position (p<.0125). The muscle activity of RF in knee flexion 130 ° was significantly less than that in knee flexion 90 ° in supine and sitting positions (p<.0125). Conclusion : When the muscle strength of IL was measured in clinic and sports fields, the supine position with knee flexion 130 ° was recommended to prevent the muscle activation of RF and to maintain the trunk stability.

• Biomaterials and Biomechanics in Bioengineering
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• v.2 no.4
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• pp.197-206
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• 2015

This paper presents three-dimensional finite element method analyses of the distribution of equivalents stress of Von Mises. Induced around a cavity located in the bone cement polymethylmethacrylate (PMMA). The presences and effect of its position in the cement was demonstrated, thus on the stress level and distribution. The porosity interaction depending on their positions, and their orientations on the interdistances their mechanical behaviour of bone cement effects were analysed. The obtained results show that micro-porosity located in the proximal and distal zone of the prosthesis is subject to higher stress field. We show that the breaking strain of the cement is largely taken when the cement, containing the porosities very close adjacent to each other.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.390-395
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• 2009

In this paper, we present practical issues in a Mobile Haptic Interface (MHI) and their improvements. The improvements can be categorized in three parts: 1) high-accuracy estimation of the world position of the haptic interface point, 2) motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 3) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.41-49
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• 2007

This study was to investigate the kinematical analysis using ski simulator. Twelve people(six skilled, six unskilled) participated in the experiment. Each phase of motion time was slight differences between the skilled group and the unskilled group but not significant difference in statistics. In displacement of vertical on COG(Center of Gravity), left and right down motion showed significant difference between group. In velocity of horizontal on COG, both left and right down motion showed significant difference between group, and up motion of between down motion showed significant difference. In displacement of angle on ankle, knee, hip joint almost showed significant difference between group. Almost in body position was lower skilled group than unskilled group.

• Journal of Korean Physical Therapy Science
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• v.3 no.4
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• pp.207-214
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• 1996

Main cause of low back pain is a poor posture. Most low back pains are due to a poor posture. The poor posture induces muscle tension and finaliy low back pain. The poor posture arehabitually trained from the childhood by the environmetal factors. In general, maintaining good posture during working and sleeping hours are the first line of defence against back pam. (1) Supine posture is the easiest posture that relaxes and fixes muscles. Supine posture is thus a starting position for on exercise. Lying down releases the weight pressures of head and shoulder and thus body can be relaxed and extended which are helpful for treating back pain. However, supine posture can increase the pressure in ribcage posture aspect and disphragram due to visceral oragans. (2) Sitting in one position for a long time results in fatigue and relaxation of spinal muscies. Finally, body strength is weakened and sitting posture will become poor. If this poor posture continues for a longer time, pain will be accompanied due to overelongation of muscle ligaments. The habitual poor posture could induce intervertebral disc distortion. If the intervertebral disc is damaged, sitting in one position or movement causes pain. (3) Abnormal lumbar curve induces the tention of abdominal muscle and paravertebral muscle groups as well as tention of lower limb muscle group connected to pelvis. For a person with weak body strength, muscle relaxation increases curvature in lumbar, chest and cervical regions. This will induce a pelvic anterior tilting of the imaginary line between A. S. I. S. and P. S. I. S. Hip joint extensor muscle acts on releasing the pelvic anterior tilting. Contrections of hamstring muscle and femoral muscle recover the imaginary line between A.S.LS. and P.S.I.S. from pelvic anterior tilting. thus, contraction of rectus abdominis muscle are required to maintain the normal lumbar curve.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.5
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• pp.757-762
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• 2013

The purpose of this study is to compare and evaluate the change of Body Mass Index(BMI) and body composition after having performed vibration exercise equipment at different ground conditions. The subjects were divided into 4 groups; Standing Group(SG)(n=10) and Horseback riding Group(BG)(n=10), Four point kneeling Group(FG)(n=10), Complex position Group(CG)(n=11). The period of intervention was for four weeks. Such as BMI and Waist Hip Ratio(WHR), Body Fat Ratio(BFR) were measured before and after exercise. The results from the above three measurements, only the CG showed significant differences. We were able to confirm that obesity change through complex position combines vibration exercise.