• Physical Therapy Korea
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• v.22 no.3
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• pp.33-40
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• 2015

The purpose of this study was to investigate the effect of multi joint-joint position sense (MJ-JPS) training on joint position sense, balance, and gait ability in stroke patients. A total of 18 stroke patients participated in the study. The subjects were allocated randomly into two groups: an experimental group and a control group. Participants in the experimental group received MJ-JPS training (10 min) and conventional treatment (20 min), but participants in the control group only received conventional treatment (30 min). Both groups received training for five times per week for six weeks. MJ-JPS is a training method used to increase proprioception in the lower extremities; as such, it is used, to position the lower extremities in a given space. MJ-JPS measurement was captured via video using a Image J program to calculate the error distance. Balance ability was measured using Timed Up and Go (TUG) and the Berg Balance Scale (BBS). Gait ability was measured with a 10 m walking test (10MWT) and by climbing four flights of stairs. The Shapiro-Wilk test was used to assess normalization. Within-group differences were analyzed using the paired t-test. Between-group differences were analyzed using the independent t-test. The experimental group showed a significant decrease in error distance (MJ-JPS) compared to the control group (p<.05). Both groups showed a significant difference in their BBS and 10MWT results (p<.05). The experimental group showed a significant decrease in their TUG and climbing results (p<.05), but the control group results for those two tasks were not found to be significant (p>.05). There was significant difference in MJ-JPS and by climbing four flights of stairs on variation of pre and post test in between groups (p<.05), but TUG and BBS and 10MWT was no significantly (p>.05). We suggest that the MJ-JPS training proposed in this study be used as an intervention to help improve the functional activity of the lower extremities in stroke patients.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.5
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• pp.177-184
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• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3271-3276
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• 2010

Preparing to reclaim the wartime operational control of South Korea's armed forces, Korea Military have to embattle the right capability in relation to conduct of the war. Although Korea Military are operating Joint Exercise Simulation Training System, they are having a lot of difficulties because of interoperability according to a joint exercise with USA military and pursue an independent korea military models. Therefore this study analyzes technical problems and proposes some measures to establish Exercise Simulation System out of regard for South Korea's self defense.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.233-238
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• 2014

In this paper, we developed a finger robot simulating spasticity and contracture which can be used as a testing bed for evaluating performance of hand rehabilitation devices while it can be also used to train clinicians for improving reliability of clinical assessment. The robot is designed for adult finger size and for independent control of Metacarpophalangeal Joint and Proximal Interphalangeal Joint. Algorithm for mimicking spasticity and contracture is implemented. By adjusting the parameters related to contracture and spasticity, the robot can mimic various patterns of responses observed in fingers with spasticity and contracture.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.803-806
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• 1997

In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

• Journal of Korea Multimedia Society
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• v.8 no.6
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• pp.744-752
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• 2005

When the multiple video sources are transmitted together through the channel of fixed bandwidth, an efficient picture quality control is necessary. This paper presents a joint picture quality control method to satisfy the user requirement by priority among the video sources. The better picture quality is assigned to the source of higher priority compared to lower priority. We obtain the bitrate for each source to have a required distortion level among the sources by using an approximate distortion-bitrate model for simple implementation. It is shown by simulation that the proposed bandwidth allocation method can keep almost the user-required picture quality among the sources in comparison to an independent bandwidth allocation method.

• Journal of Society of Preventive Korean Medicine
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• v.21 no.2
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• pp.105-116
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• 2017

Objectives : The purpose of this study was to investigate the effects of Korean medicine based arthritis management program for community dwelling elderly women with osteoarthritis. Methods : A Nonequivalent control group pretest-posttest design was used for this study. Elderly people who agreed to participated in the study were assigned to a experimental group(n = 29) or a control group (n = 30). The Korean medicine based arthritis management program conducted for 12 weeks, 2 times a week. Study outcomes were measured by structured questionnaires from April, 2016 to July. For data analysis, independent t-test, Mann-Whitney U test and ANCOVA were performed using SPSS version 21.0. Results : Pain, stiffness, balance, strength of lower extremity, and self care activity were significant difference between the two groups in pretest and posttest(F = 8.23, p = 006), (F = 9.13, p = .004), (F = 5.74, p = .020), (F = 4.98, p = .030), (F = 8.47, p = .005). Conclusions : The Korean medicine based arthritis management program was effective on decreasing joint pain, stiffness, and increasing balance, strength of lower extremity and self care activity of community dwelling elderly women with osteoarthritis. This program was found to be useful in alleviating and managing joint symptoms of elderly women with osteoarthritis.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.7
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• pp.3134-3155
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• 2020

In this paper, we study the joint radio and computational resource allocation in the ultra-dense mobile-edge computing networks. In which, the scenario which including both computation offloading and communication service is discussed. That is, some mobile users ask for computation offloading, while the others ask for communication with the minimum communication rate requirements. We formulate the problem as a joint channel assignment, power control and computational resource allocation to minimize the offloading cost of computing offloading, with the precondition that the transmission rate of communication nodes are satisfied. Since the formulated problem is a mixed-integer nonlinear programming (MINLP), which is NP-hard. By leveraging the particular mathematical structure of the problem, i.e., the computational resource allocation variable is independent with other variables in the objective function and constraints, and then the original problem is decomposed into a computational resource allocation subproblem and a joint channel assignment and power allocation subproblem. Since the former is a convex programming, the KKT (Karush-Kuhn-Tucker) conditions can be used to find the closed optimal solution. For the latter, which is still NP-hard, is further decomposed into two subproblems, i.e., the power allocation and the channel assignment, to optimize alternatively. Finally, two heuristic algorithms are proposed, i.e., the Co-channel Equal Power allocation algorithm (CEP) and the Enhanced CEP (ECEP) algorithm to obtain the suboptimal solutions. Numerical results are presented at last to verify the performance of the proposed algorithms.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.29 no.2
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• pp.1-10
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• 2023

Background: The purpose of this study was to evaluate the pain, static balance, and dynamic balance abilities of women with chronic low back pain by performing thoracic and hip joint mobility exercises and lumbar stability exercises. Methods: The subjects of this study were 20 adult women with low back pain who lived in C city for more than 12 weeks. The experimental group performed the thoracic and hip mobility exercises with lumbar stability exercises and the control group performed the lumbar stability exercise with general exercise program. Both groups participated in the exercise program three times a week for six weeks, from December 20, 2022 to March 7, 2023. The balance ability were measured using BT4, and pain was measured using visual analog scale (VAS). The collected data were analyzed by independent sample t-test and paired t-test using SPSS version 23.0 program. Results: After 6 weeks of intervention, there was a significant change in VAS between the experimental group and the control group, and there was no difference between the two groups (p>.05). In the case of balance ability, there was a no significant increase in the experimental group (p>.05). Conclusion: Thoracic and hip joint mobility exercises and lumbar stability exercises for adult female patients with chronic low back pain may be partially effective in static balance and dynamic balance.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.388-397
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• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.