• 전기전자학회논문지
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• 제16권3호
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• Clinics in Shoulder and Elbow
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• 제8권1호
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• pp.14-18
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• 2005

Purpose: Limitation of motion of the elbow joint due to stiffness affect on life quality of the patients. So contracture of the elbow should be treated as soon as possible. Among the many treatment modalities, we described the result of arthroscopic treatment. Materials and Methods: From Mar. 2000 to Mar. 2003, 40 patients, who received the arthroscopic treatment by author for contracted elbow, were the subjects. We estimated the range of motion (ROM) of elbow joint before and after surgery by goniometer. The clinical result was evaluated by Severance elbow scoring system. The final ROM was evaluated at the point of no further increasement of joint motion. Male ware 30 cases, female ware 7 cases, average 42.6 years old and mean follow up period were 31 months. During arthroscopic treatment we had done release of the joint capsule or resection, synovectomy, removal of loose bodies. We used traditional portals. Results: The avarage preoperative ROM of elbow joint was 72.5 degree(range, 5 - 132 degree) and the increasement of ROM was totally 49.3 degree in flexion 26.5 degree and extension 22.8 degree. There was no other complication. Conclusion: Arthroscopic treatment for contracted elbow permit early joint ROM and it decrease the secondary injury to the elbow joint. Also there are few complications. It is thought to be a good treatment modality in contracted elbow joint.

• Physical Therapy Rehabilitation Science
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• 제10권1호
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• pp.1-9
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• 2021

Objective: Joint mobilization for arthrokinematics altered by the positional fault of chronic ankle instability (CAI) is an effective intervention for stabilization. In this study, we compared the effects of ankle dorsi flexion range of motion (DFROM) and dynamic balance ability (DBA) in CAI patients via passive joint mobilization (PJM), a method traditionally performed in previous studies, and active joint mobilization (AJM), a method that can have a greater effect on cortical excitability with spontaneous movements. Design: Single-blind two-arm randomized controlled trial Methods: A total of 30 participants were registered: 15 each to the PJM and AJM groups. Each participant received a total of 10 intervention sessions, 10 minutes per session, 5 times a week for 2 weeks. PJM used Maitland's mobilization method to apply joint mobilization with talus in the posterior direction and AJM used an angular joint motion to induce patient's voluntary motion of medial malleolus anterior gliding and lateral malleolus posterior gliding, respectively. DFROM of the ankle was measured by using tape and DBA was evaluated by using the balance system. Results: Significant improvement was observed after intervention in both the PJM and AJM groups except for the DBA-anterior and DBA-right variables of the PJM group. There were statistically significant differences between the AJM and PJM groups in the DFROM, DBA-anterior, DBA-posterior, and DBA-right variables. Conclusions: The overall improvement of DFROM and DBA was found to be more effective in joint mobilization including voluntary movement. When it is accompanied by voluntary movement, it further affects the neuromuscular system of the ankle.

• 한국운동역학회지
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• 제25권4호
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• pp.401-412
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• 2015

Objective : The purpose of this study is to evaluate the effects of hip joint exercises and orthotics on RCSP, ankle's range of motion, and core muscle strength of middle school students with pes planus. Method : Out of the original pool of 200 students, 60 students with pes planus (RCSP < -2) were selected for the study. The selected 60 students were then divided into four groups. The first group was a combined orthotics and exercise group (12 students), the second was the orthotics-only group (9 students), the third was the exercise-only group (8 students), and the last was the control group (10 students). Exercise groups worked out twice a week for 60 minutes per session over 8 weeks. The independent variables were corrective hip joint exercises and orthotics. The dependant variables consisted of kinematic and kinetic variables. The kinematic variables were RCSP, and ankle's range of motion (dorsiflexion and plantarflexion). The kinetic variables were muscles forces that consist in core muscle strength, which are hip joint adduction, abduction, and flexion muscles forces. Statistical analysis was performed via SPSS 18.0 with multivariate analysis of covariance (MANCOVA) and a paired t-test was used. Results : The left foot was more responsive to the treatments, both exercise and orthotics, than the right foot. RCSP improved significantly in the left foot for the first and third groups. Only the first group significantly improved hip joint adduction, abduction, and flexion muscles' strengths. As for the ankle's range of motion of the left foot, plantarflexion showed improvement when treated with exercise, orthotics, or both. Conclusion : This study found that exercise is more effective in correcting RCSP and foot orthotics is more effective in reinforcing core muscle strength. Future studies should expand on these results to examine the relationship between the ankle, hip, and pelvis.

• 대한물리의학회지
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• 제12권4호
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• pp.1-9
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• 2017

PURPOSE: This study investigated the effect that an elastic therapeutic taping treatment given to patients with chronic ankle instability had on the vertical ground reaction force, center of pressure, and range of motion in the ankle, knee and hip joints, during a Cross-cutting movement from landing. METHODS: This study analyzed 12 able-bodied adults and 12 patients with chronic ankle instability classified by using the Cumberland tool in the motion analysis laboratory, Hanseo University. The experiment was conducted under two conditions elastic taping and no treatment. In order to analyze the difference between the groups. An independent t-test was performed at p>.01. RESULTS: Plying an elastic therapeutic taping to the patients with chronic ankle instability significantly decreased the range of joint motion in the inversion of the ankle joint, the flexion of the knee joint, and the flexion and internal rotation of the hip joint during a cross-cutting movement from landing in comparison with the able-bodied adults p<.01. This restriction in the range of motion decreased the center-of-pressure trajectory length of patients with chronic ankle instability p>.01. CONCLUSION: An elastic therapeutic taping treatment given to patients with chronic ankle instability causes ankle stability to increase during a cross-cutting movement from landing.

• 대한물리치료과학회지
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• 제10권2호
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• pp.112-122
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• 2003

The purpose of this study is to search effect that GCM joint treatment gets to right and left range of motion of neck, lumbar, trunk and anke joint. Estimated body deformity using GCM body type assesment chart then measured range of motion of each region. After control group did as act freely after do experiment premeasurement control group did postmeasurement. Each region was measured by measurer who each subject person differs. Experimental group did GCM joint treatment and all measurements each region by measurer who each subject person differs three times measured. When measure with each measurement, measured after leave and walk time interval for 10 minutes. For the analysis of the resulr of experiment the results is change amount comparison increased to keep in mind except ankle joint's dorsiflexion before experiment of experimental group and control group(P<.05). Before an experiment and after an experiment of experimental group, differed to keep in mind in right and left comparison of neck rotation, dorsiflexion, plantaflexin of ankle joint in change amount comparison(P<.05). Neck lateral flexion appears and displayed significantly level right and left difference than rotation after experiment of experimental group(P<.05). Because dorsiflexion, plantefleaion of ankle joint became similar right and left significantly difference did not appear(P<.05).

• 대한의용생체공학회:의공학회지
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• 제24권6호
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• pp.495-500
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• 2003

본 연구의 목적은 컴퓨터 그래픽 모델을 사용하여 보행 시 족부 관절의 기구학적 특성을 알아보는 것이었다. 모델에서 모든 관전은 단일중심(monocentric), 1 자유도 힌지 관절로 구성되었다. 보행 시 족부의 모션데이터는 4대의 카메라를 사용한 모션측정기로 얻었으며, 이 모션데이터를 피험자의 밭의 크기에 맞게 스케일링된 모델에 입력하여 시뮬레이션을 수행하였다. 첫 번째 발목발허리관절(tarsometatarsal joint)의 운동 범위(range of motion)는 $-8^{\circ}\;\~\;-13^{\circ}$ 이었으며, 발허리발가락관절(metatarsophanlangeal joint)에서의 운동범위는 $-13^{\circ}\;\~\;-48^{\circ}$ 이었다. 발목발허리관절과 발허리발가락관절에서의 기구학적인 데이터는 이전 연구와 비교했을 때 비슷한 경향을 나타내었다. 따라서 본 연구에서 제시하는 컴퓨터 그래픽을 기반으로 한 족부 모델링은 족부 관절의 생체역학적 해석을 위한 유용한 방법이라 할 수 있을 것이다.

• 융합정보논문지
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• 제9권12호
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• pp.184-189
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• 2019

본 연구의 목적은 뇌졸중 환자의 발목관절 가동범위를 증가시키기 위한 중재를 실시한 후 발목가동범위 변화를 비교한 것이다. 본 연구는 총 45명의 뇌졸중 환자를 경사대, PNF 스트레칭 그리고 관절가동술 방법에 따라 각 3군으로 나누어 8주간 실시한 후 발바닥 굽힘과 발등 굽힘을 측정하였다. 발바닥 굽힘은 집단 간에 차이가 유의하게 있었고(p<.001), 시기별 집단 간 차이에서도 차이가 유의하였다. 발등 굽힘은 관절가동술을 적용한 군 내에서 유의하게 증가하였으며(p<.05), 집단 간, 시기별 유의하였다(p<.05). 본 연구를 통해 발목의 가동범위를 증가시키기 위한 방법으로 스트레칭과 관절가동술이 효과가 있음을 알 수 있었다. 향후 연구에서는 뇌졸중 환자의 발목가동범위 증가가 미치는 또 다른 영향에 대한 연구가 있기를 기대한다.

• 대한물리의학회지
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• 제18권4호
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• pp.89-96
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• 2023

PURPOSE: To investigate the effects of the underwater Ai-Chi exercise on the joint range of motion, balance and posture. METHODS: Thirty-six college students (30 men, 6 women) were divided into a 'low physical activity' groups (Group I). and an 'appropriate physical activity' groups (Group II). The Ai-Chi underwater exercise was conducted three times a week for two weeks for both groups. A goniometer was used to measure the range of motion of the hip joint, and Y-Balance and the posture screen mobile were used to measure the stability of the lower extremities. RESULTS: An evaluation of the range of motion of the hip joint before and after the Ai-Chi exercise showed significant results in the low physical activity group. However, the flexural range showed a significant increase after exercise, but not significant result. In the comparison of the mean increase between groups, only the right hip joint showed a significant difference in both groups. Also, in the comparison of the Y balance test and posture screen test before and after exercise, both groups showed significant. CONCLUSION: The Ai-Chi underwater exercise helped improve the range of motion of the hip joint and the ability to balance. Also It helped improve posture alignment. In addition, although the increase in all physical activity groups lower than the appropriate physical activity groups was greater in all figures, the increase in the number of samples, the extension of the experimental period, and various variables could be obtained.

• 한국정밀공학회지
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• 제31권7호
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• pp.643-649
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• 2014

In order to demonstrate the possibility of applying an ionic polymer metal composite (IPMC) to a finger exoskeleton, pinching motion analysis was performed for a thumb-index finger dummy actuated by IPMC actuators. The IPMC actuators of 5mm in width and 40mm in length with 2.4mm thickness generated 1.52N of blocking force for the applying voltage of 4.0V. Three actuators were installed on the three rotary joint of an index finger, and one actuator was installed on one proximal joint. Positions of each joint and finger tip were recorded on the video camera, and motion was analyzed. Power supply to the index finger actuators preceded power supply to the thumb actuator, and key pinching motion was accomplished in 180s. Tip pinching was accomplished in 135s as power supply to the thumb preceded power supply to the index finger.