• 제목/요약/키워드: Independent joint control

검색결과 116건 처리시간 0.023초

Joint Mode Selection and Resource Allocation for Mobile Relay-Aided Device-to-Device Communication

  • Tang, Rui;Zhao, Jihong;Qu, Hua;Zhu, Zhengcang;Zhang, Yanpeng
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제10권3호
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    • pp.950-975
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    • 2016
  • Device-to-Device (D2D) communication underlaying cellular networks is a promising add-on component for future radio communication systems. It provides more access opportunities for local device pairs and enhances system throughput (ST), especially when mobile relays (MR) are further enabled to facilitate D2D links when the channel condition of their desired links is unfavorable. However, mutual interference is inevitable due to spectral reuse, and moreover, selecting a suitable transmission mode to benefit the correlated resource allocation (RA) is another difficult problem. We aim to optimize ST of the hybrid system via joint consideration of mode selection (MS) and RA, which includes admission control (AC), power control (PC), channel assignment (CA) and relay selection (RS). However, the original problem is generally NP-hard; therefore, we decompose it into two parts where a hierarchical structure exists: (i) PC is mode-dependent, but its optimality can be perfectly addressed for any given mode with additional AC design to achieve individual quality-of-service requirements. (ii) Based on that optimality, the joint design of MS, CA and RS can be viewed from the graph perspective and transferred into the maximum weighted independent set problem, which is then approximated by our greedy algorithm in polynomial-time. Thanks to the numerical results, we elucidate the efficacy of our mechanism and observe a resulting gain in MR-aided D2D communication.

요통환자와 정상인의 장요근의 긴장 도 비교 (The Comparison of Iliopsoas Tightness Between Low Back Pain Patients and Healthy Subjects)

  • 이준용;윤홍일
    • 대한정형도수물리치료학회지
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    • 제12권2호
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    • pp.11-20
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    • 2006
  • Low back pain is often experienced by many people who are in an activity flag. Their work and daily life are affected by low back pain. There are many causes of low back pain. Among those many causes, this study was focused on a relation between low back pain and the tightness of iliopsoas. The study was implemented by measuring the angles of the hip joints in subjects consisting of a 30 patients group, who had been selected from the outpatients at the Median Hospital, and a 30 people control group from the outpatients at the M Hospital and employee of M hospital. The patients group consists of the patients with low back pain who have intermittently or continuously experienced low back pain within the last 6 months. The group also had no symptom of spondylolysis or spondylolithesis and no muscular abnormality in terms of pathology without any experience of disc or spine fusion operation. The control group consisted out of persons who had never experienced lower back pain and had never been subjected to physical therapy due to lower back pain. The hip joint angles of the subjects of this study were measured by means of the modified Thomas test position. Data was analysed by independent sampling t-test using SPSS 11.0. The following results were obtained: 1. The measured angles of patient's both hip joints were significantly smaller than the control group's. 2. In the males group, The angles of patients' both hip joints were smaller than the controls'. In the females group, The angles of patients' both hip joints were smaller than the controls'. In conclusion, this study demonstrates that there is a significant difference in the tightness of the iliopsoas muscles when comparing the patient group with the control group. We should therefore pay more attention in releasing the muscle tightness of iliopsoas muscles when performing physical therapy with patients with lower back pain.

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Self-Help Education as Outreach Program for Osteoarthritis Patients in Rural Korea

  • Lee, Kyung-Sook;So, Ae-Young;De Gagne, Jennie C.;Choi, Jung-Sook;Lee, Eun-Hee;Suh, Gil-Hee;Choi, Sun-Ha;Heitkemper, Margaret M.
    • 근관절건강학회지
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    • 제18권2호
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    • pp.270-281
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    • 2011
  • Purpose: This study was done to determine if osteoarthritis (OA) patients living in rural Korea would have a benefit from a structured group program focused on self-help strategies. Methods: A hundred and twenty-six patients with OA were recruited from nine Primary Health Care Posts. The experimental group received a 6-week self-help education program while the control group received usual care. T-tests and c2-tests were used to determine the homogeneity between the experimental and control groups. Independent sample t-tests were performed to determine the effect of the treatment program. To guard against such likelihood, the level of significance of t-test was determined by Bonferroni correction within the study constructs. When significant group differences were found in study variables at baseline, analysis of covariances (ANCOVAs) were used for group comparisons of outcome variables. Results: The experimental group reported more significant improvement in fatigue, difficulty with physical activity, depression, quality of life, self-efficacy, and health behaviors than did the control group. The experimental group also showed improvements in range of motion and muscle strength as compared to the control group. Conclusion: A self-help group education program was an effective and powerful strategy to promote physical and psychosocial health in OA patients

회전기 및 착지기 분리 구동을 가능케 하는 새로운 무릎 보장구의 기구부 설계 (A Novel Kinematic Design of a Knee Orthosis to Allow Independent Actuations During Swing and Stance Phases)

  • 표상훈;김갑순;윤정원
    • 제어로봇시스템학회논문지
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    • 제17권8호
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    • pp.814-823
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    • 2011
  • Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

고령자 남녀의 발목관절 근육 반응시간의 비교 (Comparison of Reaction Times of Ankle Joint Muscles in the Elderly Men and Women)

  • 김지원;정홍영;김효희;권유리;엄광문;이정환;김경섭;전재훈;박병규
    • 대한의용생체공학회:의공학회지
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    • 제33권4호
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    • pp.163-168
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    • 2012
  • Elderly women are reported to have greater risk of falls. The purpose of this paper was to investigate the possible gender differences in the reaction performance of ankle joint muscles, which have dominant role in the control of sagittal plane balance. Twenty-six elderly men and women with comparable mean age participated in this study. Reaction times to the audible beeps were measured in the tibialis anterior muscle and gastrocnemius muscle. Reaction time variables included premotor time, electromechanical delay and total reaction time. Gender difference in each reaction time was investigated by independent t-test. In both muscles, premotor time was longer in men but the electromechanical delay was longer in women (p < 0.05). Resulting total reaction time was longer in men in tibialis anterior muscle (p < 0.01) and it tended to be longer in men also in gastrocnemius muscle (p = 0.25). The results demonstrates that the overall reaction performances of elderly women is better than or comparable to those of elderly men in ankle joint muscles. This suggests that the reaction performance of ankle muscles is hardly the cause of the greater risk of falls in elderly women.

자기효능감, 사회부과 완벽주의가 간호대학생의 시험불안에 미치는 영향 (Effect of Self-Efficacy and Socially Prescribed Perfectionism on Test Anxiety of Nursing Students)

  • 장인순;박승미
    • 근관절건강학회지
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    • 제28권2호
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    • pp.121-129
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    • 2021
  • Purpose: This descriptive research study investigated the effects of self-efficacy and socially prescribed perfectionism on test anxiety among nursing students. Methods: This study recruited nursing students at K University located in S city through convenience sampling. A survey was conducted from September 22 to November 4, 2020, using online web questionnaires. A total of 180 answers were analyzed. SPSS 22.0 was used to perform independent t-tests, one-way ANOVA, Scheffé post hoc analysis, Pearson's correlation, and multiple regression analysis. Results: The average test anxiety was 3.27 points out of 6 points. The general self-efficacy was 3.81 points out of 5 points; social self-efficacy was 3.58 points and socially imposed perfectionism was 2.79 points out of 5 points. Variables affecting test anxiety were socially prescribed perfectionism, sex, academic stress, and general self-efficacy, and the explanatory power of these variables was 30.9%. Conclusion: It was confirmed that academic stress, general self-efficacy, and social imposition perfectionism were factors affecting test anxiety among nursing students. Therefore, it is necessary to develop and provide a program to control the factors affecting test anxiety in nursing students to lower test anxiety.

어깨관절 아탈구가 있는 만성 뇌졸중환자에게 기능적 전기자극 치료가 기능회복에 미치는 효과 (Effect of Functional Recovery for the Functional FES upon Chronic Stroke Patients with Shoulder Subluxation)

  • 황룡;김찬문
    • 대한물리치료과학회지
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    • 제16권4호
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    • pp.75-81
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    • 2009
  • Background: The purpose of this study was to confirm whether surface FES was effective in the function of chronic stroke patients' affected shoulder and whether FES influenced their functional abilities in ADL, as well. Method: the subjects were inpatients at a general hospital in Gyeonggi-Do, Korea and had been diagnosed as a sub-luxation in their affected shoulder. They were 26 and were separated to an experimental group and a control group, in equal number. Both groups had gotten an exercise treatment for 6 weeks. The control group didn't get any FES as opposed to the experimental group. Result: in the experimental group there was no statistical significant difference in the vertical space and the joint space, even though the space was reduced. In the control group, there was no statistical significant difference, either. Moreover, each space of their shoulders was increased. In the range of motion of each group, there was no statistical significant difference. In functional independent ability, there was a significant difference in an experimental group. In contrast, there was no difference in a control group. Conclusion: this result suggests that FES should be effective in the sub-luxation of the patients' affected shoulder and the range of motion of their shoulders. On the other hand, compared to the previous items, FES was quite effective in the functional improvement.

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종아리근육 키네시오 테이핑을 병행한 발뒤꿈치 들기 훈련이 만성 뇌졸중 환자의 강직 및 균형능력에 미치는 영향 (Effects of Heel-raise-lower with Kinesio Taping of Triceps Surae on Spasticity and Balance Ability in Patients with Chronic Stroke)

  • 김경훈
    • PNF and Movement
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    • 제21권2호
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    • pp.213-222
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    • 2023
  • Purpose: The purpose of this study was to investigate the effects of heel-raise-lower with Kinesio Taping (HKT) on spasticity and balance ability in patients with chronic strokes. Methods: The participants were divided randomly into the HKT group and heel-raise-lower with sham (control group), with 38 participants assigned to each group. Both groups received heel-raise-lower lifting 100 times, 5 times/week for 4 weeks. The HKT group applied Kinesio Taping to the calf muscles. The control group applied Kinesio Taping transversely to the ankle joint and tibialis anterior muscle. The composite spasticity score was used to evaluate the ankle plantar flexors. The center of pressure with the eyes open and closed and limited stability was measured using BioRescue equipment. Both groups evaluated spasticity and balance ability before the experiment and after 4 weeks. Statistical methods before and after working around spasticity and balance ability were independent t-tests. Results: After training, spasticity showed significant improvement in the HKT group and in the control group (p < 0.05). Similarly, balance ability was significantly more improved in the HKT group after 4 weeks of training compared to the control group (p < 0.05). Conclusion: We confirmed the effects of heel-raise-lower with Kinesio Taping (HKT) on spasticity and balance ability in patients with chronic strokes.

편마비 환자의 기립균형에 영향을 주는 요인에 관한 연구 (A Study of Various Factors Influencing Standing Balance of Independent Ambulatory Hemiparetic Patients)

  • 권혁철
    • The Journal of Korean Physical Therapy
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    • 제1권1호
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    • pp.15-25
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    • 1989
  • The purpose of this study was to determine the factors influencing the standing balance of independent ambulatory hemiparetic patients. The subjects of this study were 30 hemiparetic patients (18 males, 12 females) being treated as admitted or out patients at Severance Hospital Medical Center, all of whom agreed to participate in the study. In order to assure the statistical significance of the results, the paired t-test aid a Pearson's correlation were applied at the .05 level of significance. The results were as follows. 1. The difference in maintenance time of standing balance on a stable and unstable support surface was significant at the .05 level. 2. The difference in maintenance time of standing balance according to the control of visual and acoustic stimuli was significant at the .05 level. 3. The presence or absence of passive joint motion sense influenced the standing balance maintenance time. 4. There was no significant difference in the maintenance standing balance of the sound tower leg standing conditions according to spasticity, but the paretic lower leg standing conditions were significantly different (p<.05). This type of evaluation should be more widely used in the field of evaluating standing balance with hemiparetic patients. However, more extensive study and reports on various factors of standing balance are needed.

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Characteristics of Leg and Ankle in Taxi Drivers

  • Kang, Sun-Young;Choung, Sung-Dae;Jeon, Hye-Seon
    • 한국전문물리치료학회지
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    • 제21권1호
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    • pp.55-62
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    • 2014
  • For professional drivers, there is a possibility to have musculoskeletal disorders on ankle joint due to repetitive pedaling operation. Therefore, this study have focused to examine ankle active range of motion (AROM), dorsiflexor strength, and pressure pain threshold (PPT) of tibialis anterior muscle (TA) in taxi drivers compared to a age-matched control group. Thirty male taxi drivers with at least 10 years of driving experience and thirty male sedentary workers were evaluated for ankle AROM, dorsiflexor strength, and PPT of TA. Multiple independent t-tests were used to identify significant differences between two groups. For the results, taxi drivers had significantly less AROM in dorsiflexion and greater AROM in external tibial rotation compared to the control group. Also, dorsiflexor strength and PPT of TA in taxi drivers was significantly lower than in the control group. This study indicates that the repetitive ankle movements associated with driving have an effect on ankle AROM, dorsiflexor strength, and PPT of TA and may lead to work-related musculoskeletal disorders on ankle. Professional drivers may need to be educated to prevent a potential musculoskeletal disorders associated with repetitive movement.