• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.130-140
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• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.

• The Journal of Advanced Prosthodontics
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• v.6 no.6
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• pp.491-497
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• 2014

PURPOSE. This study evaluated the influence of abutment materials on the stability of the implant-abutment joint in internal conical connection type implant systems. MATERIALS AND METHODS. Internal conical connection type implants, cement-retained abutments, and tungsten carbide-coated abutment screws were used. The abutments were fabricated with commercially pure grade 3 titanium (group T3), commercially pure grade 4 titanium (group T4), or Ti-6Al-4V (group TA) (n=5, each). In order to assess the amount of settlement after abutment fixation, a 30-Ncm tightening torque was applied, then the change in length before and after tightening the abutment screw was measured, and the preload exerted was recorded. The compressive bending strength was measured under the ISO14801 conditions. In order to determine whether there were significant changes in settlement, preload, and compressive bending strength before and after abutment fixation depending on abutment materials, one-way ANOVA and Tukey's HSD post-hoc test was performed. RESULTS. Group TA exhibited the smallest mean change in the combined length of the implant and abutment before and after fixation, and no difference was observed between groups T3 and T4 (P>.05). Group TA exhibited the highest preload and compressive bending strength values, followed by T4, then T3 (P<.001). CONCLUSION. The abutment material can influence the stability of the interface in internal conical connection type implant systems. The strength of the abutment material was inversely correlated with settlement, and positively correlated with compressive bending strength. Preload was inversely proportional to the frictional coefficient of the abutment material.

• Journal of Convergence for Information Technology
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• v.9 no.7
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• pp.153-158
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• 2019

The purpose of this study was to compare the isokinetic muscular strength of the knee joint between female volleyball and table tennis players. A total of 27 elite volleyball players and 27 table tennis players participated in the study. This study measured both knee extensor and flexor strengths of volleyball and table tennis players using the isokinetic dynamic test. Peak torque was measured by performing maximal voluntary flexion and extension three times at $60^{\circ}/s$. Volleyball players had higher knee extensor and flexor strengths than table tennis players. No significant difference in both knee strengths was noted in table tennis players. However, volleyball players showed significant differences in both knee strengths. Height and weight showed a positive correlation with knee strength. This study found that volleyball players had greater knee strength than that of table tennis players. We also found that volleyball players have asymmetrical knee strength. Comparison with other sport players is warranted to better understand isokinetic muscular strength of the knee joint.

• Physical Therapy Korea
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• v.26 no.2
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• pp.49-60
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• 2019

Background: After stroke, in order to improve gait function, it is necessary to increase the muscle strength and to enhance the propriocetive function of the lower extremity. Objects: This study aimed to compare the effects of open kinetic chain (OKC) versus closed kinetic chain (CKC) isokinetic exercise of the hemiparetic knee using the isokinetic equipment on lower extremity sensorimotor function and gait ability in patients with chronic stroke. Methods: Thirty participants with chronic hemiplegia (> 6 months post-stroke) were randomly divided into 2 equal groups: CKC group and OKC group. Patients from both groups attended conventional physiotherapy sessions 3 times a week for 6 weeks. Additionally, subjects from the CKC group performed isokinetic exercise using the CKC attachment, while those from the OKC group performed isokinetic exercise using the OKC attachment. The isokinetic knee and ankle muscles strength, position sense of the knee joint, and spatiotemporal gait parameters were measured before and after interventions. Results: The knee muscles peak torque/body weight (PT/BW) and hamstring/quadriceps (H/Q) ratio significantly increased in both groups (p<.01). In particular, ankle plantarflexors PT/BW, position sense of the knee, gait velocity, and spatial gait symmetry significantly improved in the CKC group (p<.01, p<.05, p<.01, and p<.01, respectively). Conclusion: CKC isokinetic exercise can be an effective therapeutic intervention for the improvement of sensorimotor function of the lower extremity and gait functions, such as gait velocity and symmetry. CKC position in isokinetic strength training is effective to improve functional ability in patients with chronic stroke.

• Physical Therapy Rehabilitation Science
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• v.11 no.1
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• pp.16-23
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• 2022

Objective: This study aimed to investigate the effect of adding hip abductor strengthening to conventional rehabilitation on muscle strength and physical function following total knee replacement (TKR) for knee osteoarthritis. Design: Randomized controlled trial Methods: Thirty-five participants were randomly allocated to exercise groups I (n=18) and II (n=17). Group I underwent hip abductor training and conventional rehabilitation for 30 min per day, 5 days per week for 4 weeks. Group II underwent conventional rehabilitation for 30 min per day, 5 days per week for 4 weeks. The participants in both groups also received continuous passive motion therapy for 15 min per day, 5 days per week for 4 weeks. To investigate the effect of the intervention, the Biodex dynamometer was used to measure the peak torque of both knee extensors and hip abductors. This study used the Knee Outcome Survey-Activities of Daily Living Scale (KOS-ADLS) to assess physical function, as well as the figure-of-8 walk test (F8W) and the stair climb test (SCT). Results: According to the interventions, exercise groups I and II showed significantly improved muscle strength and KOS-ADLS, F8W, and SCT scores (p<0.001). Compared with that of exercise group II, exercise group I showed significantly improved hip abductor strength (p<0.001) and KOS-ADLS, F8W, and SCT scores (p<0.05). Conclusions: The results of this study indicate that the combination of hip abductor strengthening and conventional rehabilitation is an effective exercise method to increase hip abductor muscle strength and physical function after TKR.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.193-199
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• 2014

In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1038-1046
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• 2008

This paper presents a framework to generate human-like movements of a humanoid in real time using the movement primitive database of a human. The framework consists of two processes: 1) the offline motion imitation learning based on an Evolutionary Algorithm and 2) the online motion generation of a humanoid using the database updated bγ the motion imitation teaming. For the offline process, the initial database contains the kinetic characteristics of a human, since it is full of human's captured motions. The database then develops through the proposed framework of motion teaming based on an Evolutionary Algorithm, having the kinetic characteristics of a humanoid in aspect of minimal torque or joint jerk. The humanoid generates human-like movements far a given purpose in real time by linearly interpolating the primitive motions in the developed database. The movement of catching a ball was examined in simulation.

• Journal of Biomedical Engineering Research
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• v.16 no.2
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• pp.217-222
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• 1995

We propose some applications of image processing techniques to extract quantitative measurements by using a camera system developed in Korea university and Catholic Medical School. From now on the system will be called as KCMOTION. The purpose of this study is to provide basic kinematic and kinetic data for the analysis of human movements and to find the clinical usefulness and reliability of the proposed motion analysis system. Two tests, sit-to-stand (STS) movements and pendulum test, are conducted by the system. The aims of the tests are to identify variability and reliability of KCMOTION to give some quantitative comparisons to the other systems. The result of STS movement are compared to the LOCUS IIID motion analyzer by the ratio of maximum flexion movement per body weight to the actual maximum flexion extension torque per body weight. That result in 29 % and 33 % for hip and knee joint, respectively in KCMOTION and 27 % and 30 % in LOCUS IIID System. The results of the pendulum movements are compared to that of using Cybex and Electrogoniometer with relaxation index, amplitude ratio, swing number and swing time. The results of relaxation index and amplitude ratio of the KCMOTION are between those of the Cybex and Electrogoniometer. We also observed that the KCMOTION detect more natural movement, from the results of swing number and time.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.464-469
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• 2001

This work provides the biomechanical evaluations of a manual wheelchair with a bi-directional driving system. The new propulsion strategy can be accomplished by employing a special gear system that converts the oscillatory motion of a handrim into the unidirectional output motion of a wheel. A main feature of the forward. backward propulsion is to supply continuous driving torque without break. Motion. analysis has been performed through 2-dimensional image processing for measuring the kinematic properties of the upper arm and fore arm. Then, the inverse dynamics analysis has been done for obtaining the joint torques, the handrim forces and input/output powers. Results show that the output power by the forward. reverse propulsion is almost twice as much as that by conventional propulsion. Also, the new propulsion is expected to reduce the fatigues and injuries at arm joints by employing more muscle groups for movement. In conclusion, the forward. reverse propulsion can greatly improve the performances of manual wheelchairs by providing better mobility as well as by guaranteeing several advantages from a biomechanical viewpoint. Future development of a manual wheelchair optimized for the bi-directional propulsion will further improve the propulsion performances.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.4
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• pp.377-386
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• 2015

Joint force/torque estimation by inverse dynamics is a traditional tool in biomechanical studies. Conventionally for this, kinematic data of human body is obtained by motion capture cameras, of which the bulkiness and occlusion problem make it hard to capture a broad range of movement. As an alternative, inertial motion sensing using cheap and small inertial sensors has been studied recently. In this research, the performance of inertial motion sensing especially to calculate inverse dynamics is studied. Kinematic data from inertial motion sensors is used to calculate ground reaction force (GRF), which is compared to the force plate readings (ground truth) and additionally to the estimation result from optical method. The GRF estimation result showed high correlation and low normalized RMSE(R=0.93, normalized RMSE<0.02 of body weight), which performed even better than conventional optical method. This result guarantees enough accuracy of inertial motion sensing to be used in inverse dynamics analysis.