• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1664-1670
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• 1991

For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.399-405
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• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• Journal of International Academy of Physical Therapy Research
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• v.9 no.1
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• pp.1398-1405
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• 2018

The purpose of this study was to investigate the effect of heel off stairway walking exercise on the increase of muscle activity and balance activity of the ankle joint muscles in university students with functional ankle instability. The conservative treatment for the control group consisted of stairway walking (n=10) and the experimental group consisted of heel off stairway walking (n=11). The therapeutic intervention of the control and experimental groups was performed a total of 12 exercise sessions, 3 times per week for 4 weeks. To compare the two groups, the level of ankle disability was assessed by using the EMG, BT4 and Pedoscan in pre-treatment and post-treatment. Muscle activity increased in both the experimental groups and control groups in each group, however there was no significant difference between the groups. Balance ability did not show any significant difference. This study demonstrates that heel-off stairway walking is effective in significantly increasing muscle activity, however did not significantly improve balance ability.

• 한국공간정보시스템학회:학술대회논문집
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• 2004.05a
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• pp.75-82
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• 2004

Many researcher's efforts have made a significant advancement of space frame structure with various portion, and it becomes the most outsanding one of space structures. However, with the characteristics of thin and long term of spacing, the unstable behavior of space structure is shown by initial imperfection, erection procedure or joint, especially space frame structure represents more. This kind of unstable problem could not be set up clearly and there is a huge difference between theory and experiment. Moreover, the discrete structure such as space frame has more complex solution, this it is not easy to derive the formulation of design about space structure. In this space frame structure, the character of rise-span ratio or load mode is represented by the instability of space frame structure with initial imperfection, and snap-through or bifurcation might be the main phenomenon. Therefore, in this study, space frame structure which has a lot of aesthetic effect and profitable for large space covering single layer is dealt. And because that the unstable behavior due to variation of inner force resistance in the elastic range is very important collapse mechanism, I would like to investigate unstable character as a nonlinear behavior with a geometric nonlinear. In order to study the instability. I derive tangent stiffness matrix using finite element method and with displacement incremental method perform nonlinear analysis of unit space structure, star dome and 3-ring star dome considering rise-span $ratio(\mu}$ and load $ratio(R_L)$ for analyzing unstable phenomenon.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.22 no.2
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• pp.57-63
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• 2016

Background: Instability due to ankle sprains will be accompanied by a problem of balance and pain change. Balance trainer is used to improve the ankle strength and balance ability. The purpose of this study was to evaluate the change of pain and postural balance ability in ankle joint after balance trainer application in patients with ankle sprain and instability. Methods: Twenty patients in K hospital in Incheon were enrolled. Balance trainer was applied to 10 subjects in the experimental group and 10 subjects in the Balance cushion under the same conditions as the experimental group to compare the pain and balance ability. Results: In the experimental group, there was a significant difference in the change of the pain variation. In the postural balance ability comparison, there was a significant difference in total and post - posterior comparison compared to the control, but there was no significant difference in the postural balance ability comparison. Conclusion: Pain and postural balance ability of patients with instability due to ankle sprain improved the pain and balance ability of the Balance trainer group compared to the Balance cushion training group.

• Journal of Korean Physical Therapy Science
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• v.15 no.3
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• pp.19-29
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• 2008

Background : Ankle inversion sprains are one of the most common injuries in sports and activities of daily living that mostly concern physically active individuals. In most researches, proprioceptive deficit, muscle weakness and/or absent coordination have been regarded as a contributing factors. Despite the high incidence of ankle sprain and instability, therapeutic approaches to properly manage the symptoms have rarely been investigated. This study aimed to identify the effect of proprioceptive exercise program that is easy to integrate in normal training program. Methods : Subjects were randomly allocated to control group and experimental group consisting of 11 and 10 patients, respectively. The conservative treatment for the control group consisted of hot packs, ultrasound and TENS. In addition, the experimental group performed 7 exercises to enhance proprioceptive function of ankle joint. The therapeutic intervention of the controland experimental groups was performed a total of 20 exercise sessions, averaging 50 hour each, 5 times per week for 4 weeks. To compare the two groups, the level of ankle disability was assessed by using the ankle injury score scale in pre- and post-treatment. Results : On assessment of post-treatment, there were statistically significant differences in the scores of all sub-items, except for ankle laxity and range of motion, and the total score of ankle injury score scale between the two groups(p<0.05). In comparison between pre- and post-treatments, the significant difference in the scores of all sub-items and total score didn't appear for the control group, while the scores of most sub-items and total score of the experimental group were shown the statistically significant difference(p<0.05). Conclusion : The findings suggest that the proprioceptive exercise program is more effective for relieving ankle disability than conservative treatment therefore, the program to improve proprioceptive function should be recommended for prevention and rehabilitation of recurrent ankle inversion injuries.

• Journal of Korean Neurosurgical Society
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• v.29 no.11
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• pp.1456-1460
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• 2000

Objectives : Transpedicular screw fixation has become an important method for internal fixation in variety of disorders. However, acceleration of degeneration at the adjacent segment in any follow. The goal of this study is to review the change of motion ranges of vertebral joints adjacent to fused level in lumbar spine. Methods : This study consists of 22 patients with degenerative spinal instability. Treatment of spinal instability includes posterior fusion with transpedicular screw fixation or transpedicular screw fixation with posterior lumbar interbody fusion. The flexion-extension angle(FEA) was measured from dynamic views of lumbar spine taken both at preoperative and post operative period. Results : The FEA of upper vertebral joint adjacent(FEA-u) to a fused L4-5 level was increased(p＝0.010). The FEA-u was increased in case of L5-S1 fusion(p＝0.025). The change of FEA-u in case of L5-S1 fusion was greater than that in L4-5 fusion(p＝0.013). Conclusion : After L4-5 fusion, there seems to be more meaningful increase in FEA of L3-4 than that of L5-S1. The reason may be due to the damage of L3-4 facet joints during the operation, the other possible explanation may be the anatomical stability of L5-S1 vertebral joint. The change of FEA-u of L5-S1 fusion is increased more than that of L4-5 fusion. Because there are compensations in the adjacent vertebrae both above and below the fused L4-5, the compensatory motion in FEA-u of L5-S1 fusion was greater than that of the L4-5 fusion.

• The Journal of Engineering Geology
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• v.18 no.4
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• pp.459-470
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• 2008

Types of slope failure related to cut slope stability are interpreted through case analyses, and also factors affecting structurally controlled instability investigated, which are developed by geologic structures along a national road No. 25 across the Cheongwon and Boeun-Guns, Chungbuk. Engineering properties such as orientation, persistence, roughness and uniaxial compressive strength of joints are analyzed by square-inventory method in three areas with well-preserved outcrops. The study area is located in Ogcheon folded bet, and are composed of quartz-schist and quartzite in the Midongsan Formation and phyllite in the Ungyori Formation. Flexural beds by folding, schistosity and cleavage besides joints are developed due to slight metamorphism. Various types of joints developed by folding are formed such as strike-parallel, strike-perpendicular, wedge and wrench joint sets by both initially regional and later superposed folding. Factors of slope instability are created by crossing the orientations of joint, cleavage, bedding and slope one another. In the case that the orientation of a slope is coincident with one of beds, factors causing large-scale failure including plane failure are increased greatly. Also in the region that orientations of the slope and bed are crossed each other at high angle, only local and minor failures are shown in the slope.

• The Journal of Dong Guk Oriental Medicine
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• v.5
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• pp.79-95
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• 1996

When we see normal gait, gait cycle is seperated as stance phase and swing phase. It needs 6 determinant of gait of pelvic rotation, pelvic tilt, knee joint of stance phase, ankle and foot motion, ankle and knee motion, and pelvic movement to be accomplished. In addition, a joint and muscle action is accomplished biomechanically at the same time with its gait cycle. In oriental medicine, the relationships between chang-fu physiology and meridian physiology are summaried as follows ; ${\bullet}$ chang-fu physiology : Spleen manages the extremities. Liver manages soft tissues. Liver stores blood. Kidney stores essences. Kidney manages bones. ${\bullet}$ meridian physiology : The Leg Greater Yang Meridian and meridian soft tissues The Leg Yang-Myeong Meridian and meridian soft tissues The Leg Lesser Yang Meridian and meridian soft tissues The Leg Greater Yin Meridian and meridian soft tissues The Leg Lesser Yin Meridian and meridian soft tissues The Leg Absolute Yin Meridian and meridian soft tissues Especially, we can find out relations between in a "blood supplied feet can walk well" that explains "blood regulations and by liver nourishing effects"that is the closest concept of muscle. Abnormal gaits are due to three causes as following; first, physical defect secoud, pain third, nervous system or instability of muscle. In oriental medicine, we can know relationship in "atrophy, numbness, stroke, convulsion, muscular dystrophy of knee, rheumatoid arthritis, five causes of infantile growing defects, five causes of softening, sprain". Especially, atrophy is the most important symptom. Gait evaluation should be emphasized where a point can walk 8 feet to 10 feet considering stride width, stride length, the body weight center, stride number, flexion, extension, rotation of a joint as a standard factor. The point is we should find out something strange in a patient's side, front and back view. After that we should find out its cause as an index that we can observe abnormal findings in a joint and muscle.

• Korean Journal of Applied Biomechanics
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• v.31 no.3
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• pp.155-161
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• 2021

Objective: There is a lack of studies using the 3D-2D image registration techniques on the mechanism of a shoulder injury for ice hockey players. This study aimed to analyze in vivo 3D glenohumeral joint arthrokinematics in collegiate ice hockey athletes and compare shoulder scaption with or without a hockey stick using the 3D-2D image registration technique. Method: We recruited 12 male elite ice hockey players (age, 19.88 ± 0.65 years). For arthrokinematic analysis of the common shoulder abduction movements of the injury pathogenesis of ice hockey players, participants abducted their dominant arm along the scapular plane and then grabbed a stick using the same motion under C-arm fluoroscopy with 16 frames per second. Computed tomography (CT) scans of the shoulder complex were obtained with a 0.6-mm slice pitch. Data from the humerus translation distances, scapula upward rotation, anterior-posterior tilt, internal to external rotation angles, and scapulohumeral rhythm (SHR) ratio on glenohumeral (GH) joint kinematics were outputted using a MATLAB customized code. Results: The humeral translation in the stick hand compared to the bare hand moved more anterior and more superior until the abduction angle reached 40°. When the GH joint in the stick hand was at the maximal abduction of the scapula, the scapula was externally rotated 2~5° relative to 0°. The SHR ratio relative to the abduction along the scapular plane at 40° indicated a statistically significant difference between the two groups (p < 0.05). Conclusion: With arm loading with the stick, the humeral and scapular kinematics showed a significant correlation in the initial section of the SHR. Although these correlations might be difficult in clinical settings, ice hockey athletes can lead to the movement difference of the scapulohumeral joints with inherent instability.