• Journal of Biomedical Engineering Research
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• v.27 no.5
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• pp.250-259
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• 2006

The information of eye movement is used in various fields such as psychology, ophthalmology, physiology, rehabilitation medicine, web design, HMI(human-machine interface), and so on. Various devices to detect the eye movement have been developed but they are too expensive. The general methods of eye movement tracking are EOG(electro-oculograph), Purkinje image tracker, scleral search coil technique, and video-oculograph(VOG). The purpose of this study is to embody the algorithm which tracks the location of the gazing point at a pupil. Two kinds of location data were compared to track the gazing point. One is the reference points(infrared LEDs) which is effected from the globe. Another is the center point of the pupil which is gained with a CCD camera. The reference point was captured with the CCD camera and infrared lights which were not recognized by human eyes. Both of images which were thrown and were not thrown an infrared light on the globe were captured and saved. The reflected reference points were detected with the brightness difference between the two saved images. In conclusion, the circumcenter theory of a triangle was used to look for the center of the pupil. The location of the gazing point was relatively indicated with the each center of the pupil and the reference point.

• Journal of the Korean Institute of Oriental Medical Informatics
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• v.14 no.2
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• pp.47-57
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• 2008

This paper aims at the comparative study of practicing Buddhism and Taoism related to "life gate". The term "life gate", as a physiological entity of disputed morphological identity, first appears in The Inner Canon where it refers to the eyes. Reference to a "life gate" as an internal organ body first appears in The Classic of Difficult Issues which states, "The two kidneys are not both kidneys' The left one is the kidney, and the right is the life gate." Successive scholars refers to life gate as a gi point of Taoists.. The question of the life gate invited little discussion until the Myeong and Cheong Dynasty, when various different theories were put forward. Especially Jin Sa-taek says "life gate" is the governor of the twelve place in the human body, throwing light on the meaning of it. Not that life gate denotes a local point, it does a system of life gate. Generally speaking, life gate designates cinnabar field. I think that the human body produces essence by way of life gate. That is, the human body is unified by the system of life gate. Life gate is not only the source of infusing the engine of the human body with vital energy but also as well as gi-point.

• Journal of Acupuncture Research
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• v.30 no.1
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• pp.13-22
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• 2013

Objectives : The aim of this study was to show the application to add the Dong-Qi therapy of the Dong-Si acupuncture to exercise therapy of the movement system impairment syndrome(MSIS) and to determine the best acupuncture point for the Dong-Qi therapy. Methods : We reviewed Diagnosis and Treatment of Movement Impairment Syndrome and Movement System Impairment Syndromes Of The Extremities, Cervical and Thoracic Spines written by Sahrmann SA. to show the exercise therapy of the sort of MSIS. We reviewed complete works of Yang Wei Jie to show the acupuncture points of the Dong-Si acupuncture and the Dong-Qi therapy. Results : We showed the acupuncture point of the Dong-Si acupuncture by each type of MSIS based on the reference book of MSIS, the Dong-Si acupuncture. Also, we selected and tabulated the best possible acupuncture point of the Dong-Si acupuncture which could minimize a side effect of acupuncture during the therapeutic exercise by each type of MSIS. Conclusion : A specific acupuncture point of the Dong-Si acupuncture could be chosen for a specific MSIS therapeutic exercise. The best possible acupuncture point could be chosen when selecting an acupuncture point of the Dong-Si acupuncture.

• Journal of the Ergonomics Society of Korea
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• v.5 no.1
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• pp.11-18
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• 1986

The object of this research is to develop an interactive computerized graphic program for graphic output of velocity, acceleration and motion range of body task reference point. Human motions can be reproduced by scanning (rate = 1/60) the vidicon image, at same time, C.O.G of body segment group, and the results are stored in an Apple II P.C. memory. The results of this study can he exteneded to simulation and reproduction of human motions for optimal task design.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Journal of Korean Medical classics
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• v.25 no.4
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• pp.105-113
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• 2012

Objectives : Acquiring information from symptoms is one of the important method to gain clinically available information in korean medicine. Therefore, up to now, study of symptom terms was frequently implemented in promotion of various information project. In data extraction methods using symptom information from DB, information search using synonym and method using ontology is studied and utilized. However, considering concept of symptom has essential information of appeared body area and phenomenon we think that extending synonym and ontology relationship in symptom terms can be useful for search and set to this study. Methods : We collect terms relevant to human body area and structure described in Donguibogam. Synonymous relationship between collected terms is organized. Relationship between collected terms is build to human-body-knowledge table which has form of Concept+Relation+Concept. Type of relationship is limited on a range of expressing content about parts of human body. Result & Conclusion : Search condition is generated automatically using relationship of the upper area in knowledge table contents. Information of next and previous acupuncture point, upper and lower acupuncture point, left and right acupuncture point can be searched using information of acupuncture point location, order, relative position in area, direction in knowledge table contents.

• Anatomy and Cell Biology
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• v.56 no.3
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• pp.322-327
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• 2023

The aim of this study was to elucidate the intramuscular arborization of the teres minor muslce for effective botulinum neurotoxin injection. Twelve specimens from 6 adult Korean cadavers (3 males and 3 females, age ranging from 66 to 78 years) were used in the study. The reference line between the 2/3 point of the axillary border of the scapula (0/5), where the muscle originates ant the insertion point of the greater tubercle of the humerus (5/5). The most intramuscular neural distribution was located on 1/5-3/5 of the muscle. The tendinous portion was observed in the 3/5-5/5. The result suggests the botulinum neurotoxin should be delivered in the 1/5-3/5 area of the teres minor muscle.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.371-374
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• 1997

Recently, the development of computer achieves a system which is similar to the mechanics of human visual system. The 3-dimensional measurement using monocular vision system must be achieved a camera calibration. So far, the camera calibration technique required reference target in a scene. But, these methods are inefficient because they have many calculation procedures and difficulties in analysis. Therefore, this paper proposes a native method that without reference target in a scene. We use the grid type frame with different line widths. This method uses vanishing point concept that possess a rotation parameter of the camera and perspective ration that perspect each line widths into a image. We confirmed accuracy of calibration parameter estimation through experiment on the algorithm with a grid paper with different line widths.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.417-425
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• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.