• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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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.

• The Journal of Advanced Prosthodontics
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• v.6 no.1
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• pp.46-52
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• 2014

PURPOSE. The aim of this study was to evaluate the interface accuracy of computer-assisted designed and manufactured (CAD/CAM) titanium abutments and implant fixture compared to gold-cast UCLA abutments. MATERIALS AND METHODS. An external connection implant system (Mark III, n=10) and an internal connection implant system (Replace Select, n=10) were used, 5 of each group were connected to milled titanium abutment and the rest were connected to the gold-cast UCLA abutments. The implant fixture and abutment were tightened to torque of 35 Ncm using a digital torque gauge, and initial detorque values were measured 10 minutes after tightening. To mimic the mastication, a cyclic loading was applied at 14 Hz for one million cycles, with the stress amplitude range being within 0 N to 100 N. After the cyclic loading, detorque values were measured again. The fixture-abutment gaps were measured under a microscope and recorded with an accuracy of ${\pm}0.1{\mu}m$ at 50 points. RESULTS. Initial detorque values of milled abutment were significantly higher than those of cast abutment (P<.05). Detorque values after one million dynamic cyclic loadings were not significantly different (P>.05). After cyclic loading, detorque values of cast abutment increased, but those of milled abutment decreased (P<.05). There was no significant difference of gap dimension between the milled abutment group and the cast abutment group after cyclic loading. CONCLUSION. In conclusion, CAD/CAM milled titanium abutment can be fabricated with sufficient accuracy to permit screw joint stability between abutment and fixture comparable to that of the traditional gold cast UCLA abutment.

• The Journal of Korean Physical Therapy
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• v.2 no.1
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• pp.35-46
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• 1990

The right hip adbuctor musculature has been reported to demonstrate 'stretch weakness' attributable to chronic elongation imposed by standing posture common to right-handed healthy persons. Kendall and associates have described the concept of 'stretch weakness'. The purpose of this study was to assess isometric hip abduction torque and surface electro-myographic activity (using MYOMED 432) in a sample of 40 healthy right-handed persons (20 male, 20 female), all of whom agreed to participate in the study, and compare side difference in the hip abductor musculature. In order to assure the statistical significance of the results, the paired t-test was applied at the .05 level of significance. The results were as follows : 1. The difference in apparent leg length of right and left legs was significant at the .05 leve1. 2. There was a significant difference between right and left pelvic height (standing position) at the .005 level measurements, and scapula height at the .05 level. 3. Power measurements and action potentials of right hip adbuctor were greater than the left hip adbuctor regardless of the range of joint motion (inner range, outer range). 4. The difference in muscle power and action potentials according to inner or outer range of both hip abductor were significant at the .05 level. 5. In supine during active left hip abduction, the appearance of action potentials in the right hip abductors is indicative of contra-lateral effect (p<.005). These results suggest : In healthy right-handed persons. the apparent leg length on the right is longer than on the left, and pelvic height is elevated on the right side. Muscle torque and muscle action potentials of the right hip adbuctor art higher than those of the hip abductor in the lengthened position. Therefore, the results in this study are contrary to Kendall's. This type of study should be carried out in many physical therapy departments.

• Physical Therapy Korea
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• v.28 no.1
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• pp.65-71
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• 2021

Background: The hamstring is a muscle that crosses two joints, that is the hip and knee, and its flexibility is an important indicator of physical health in its role in many activities of daily living such as sitting, walking, and running. Limited range of motion (ROM) due to hamstring tightness is strongly related to back pain and malfunction of the hip joint. High-frequency diathermy (HFD) therapy is known to be effective in relaxing the muscle and increasing ROM. Objects: To investigate the effects of HFD on active knee extension ROM and hamstring tone and stiffness in participants with hamstring tightness. Methods: Twenty-four participants with hamstring tightness were recruited, and the operational definition of hamstring tightness in this study was active knee extension ROM of below 160° at 90° hip flexion in the supine position. HFD was applied to the hamstring for 15 minutes using the WINBACK device. All participants were examined before and after the intervention, and the results were analyzed using a paired t-test. The outcome measures included knee extension ROM, the viscoelastic property of the hamstring, and peak torque for passive knee extension. Results: The active knee extension ROM significantly increased from 138.8° ± 9.9° (mean ± standard deviation) to 143.9° ± 10.4° after the intervention (p < 0.05), while viscoelastic property of the hamstring significantly decreased (p < 0.05). Also, the peak torque for knee extension significantly decreased (p < 0.05). Conclusion: Application of HFD for 15 minutes to tight hamstrings immediately improves the active ROM and reduces the tone, stiffness, and elasticity of the muscle. However, further experiments are required to examine the long-term effects of HFD on hamstring tightness including pain reduction, postural improvement around the pelvis and lower extremities, and enhanced functional movement.

• The Journal of Korean Academy of Prosthodontics
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• v.54 no.4
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• pp.370-378
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• 2016

Purpose: The purpose of this study was to investigate screw joint stability and sagittal fit between internal connection implant fixtures of two different manufacturers and customized abutments. Materials and methods: Internal connection implant systems from two different manufacturers (Biomet 3i system, Astra Tech system) were selected for this study (n=24 for each implant system, total n=48). For 3i implant system, half of the implants were connected with Ti ready-made abutments and the other half implants were connected with Ti CAD-CAM custom ones of domestic-make (Myplant, Raphabio Co., Seoul, Korea) and were classified into Group 1 and Group 2 respectively. Astra implants were divided into Group 3 and Group 4 in the same way. Micro-CT sagittal imaging was performed for fit analysis of interfaces and preloading reverse torque values (RTV) were measured. Results: In the contact length of fixture-abutment interface, there were no significant differences not only between Group 1 and Group 2 but also between Group 3 and Group 4 (Mann-Whitney test, P>.05). However, Group 2 and Group 4 showed higher contact length significantly than Group 1 and Group 3 in abutment-screw interface as well as fixture-screw one (Mann-Whitney test, P<.05). In addition, RTV was lower in CAD-CAM custom abutments compared to ready-made ones (Student t-test, P<.05). Conclusion: It is considered that domestically manufactured CAD-CAM custom abutments have similar fit at the fixture abutment interface and it could be used clinically. However, RTV of CAD-CAM custom abutments should be improved for the increase of clinical application.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.4 no.1
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• pp.53-61
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• 2010

In this paper, We investigated the characteristic analysis of flexibility and muscle strength for exercise to verify capacity in rehabilitation exercise of lumbar using lumbar strengthen exercise instrument. We have experiment in 20th years man and woman who are 20 subject with no medical history, we divided subjects into control group with no exercise and training group with lumbar strengthen exercise. We used Hi-Spine(Medicalscience.korea) also, provided exercise 40 minute a day, three days a week and progressed total four weeks. Moreover in our experiment, subjects exercised four postural position as lay down, sit, stand and stretch each ten minute. We measured trunk extension backward, trunk flexion forward, evaluation of based physical fitness and lumbar joint torque. The reults have shown that there more improved all for flexibility, based physical fitness and lumbar joint torque in training group than control group. We indicated that by rotating 3-D axis movement flatform of exercise instrument, muscle spindle in subject have been stimulated and these rotation direction and angle caused muscle tonus and contraction that makes muscle, flexibility and based physical fitness improve more. Our study can be used rehabilitation exercise program to aged people and patient with lumbar injury.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.41-46
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• 2013

IIn this paper, active trasfemoral prosthesis leg is designed for the handicapped who lost their legs upon knee. It is important to design proper knee joint to mimic walking motion of hyman. 1 degree-of-freedom active trasfemoral prosthesis leg is designed with knee joint. Operating angle and torque have been calculated using kinematics of three linkages in prosthesis leg. Finite element analysis of major components is performed to evaluate the safety under operating condition and to reduce weights. Minimum volumes of components are obtained by optimization as satisfying safety requirements. The results show that about 35% of weight of components is reduced.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.709-717
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• 2013

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.283-289
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• 2014

This paper presents a design and optimization of the fully-active transfemoral prosthesis leg system. As it has one degree of freedom in knee joint, this prosthesis leg can imitate the human's gait. The weight of system, which makes the users more comfortable due to less tiredness, and the knee joint torque to rise stability of the system are major factors of prosthesis leg system. Thus the mechanism of prosthesis changes from 3-linkage type to geared type. The sensorized foot is also designed to effectively determine human's gait by measuring deformation of the foot during gait. Topology optimization is carried out for the sensorized foot to remove its unnecessary weight. The safety of optimized foot is verified by carrying out finite element analysis.

• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.90-96
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• 2013

As the need of electric motor is increased rapidly throughout our society, the various application fields are created and the service market called robot gets expanded as well as the existing industrial market. Out of those, the joint systems such as humanoid that is servo actuator for position control or all fields which require multi-degree of freedom (multi-DOF) require the development of innovative actuator. It is multi-DOF spherical motor that can replace the existing system in multi-DOF operating system. But, multi-DOF spherical motor that has been researched up to date is at the stage which is insufficient in performance or mechanical practicality yet. Thus, first of all the research results and limitation of the previously-researched guide frame-type spherical motors were analyzed and then the feature of double air-gap spherical motor which was devised to complement that was studied. The double air-gap multi-DOF spherical motor is very suitable spherical motor for system applying which requires the multi-DOF operation due to its simple structure that does not require other guide frame as well as performance improvement due to its special shape which has two air-gaps. So, the validity of the study was verified by designing and producing it with 3D-FEM through the exclusive jig for multi-DOF spherical motor.