• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• The Journal of Korean Physical Therapy
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• 제34권4호
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• pp.140-148
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• 2022

Purpose: The purpose of this study was to investigate the effects of the scapulothoracic mobilization on subject with lateral epicondylalgia. This was done through lateral slide scapular test, grip strength, visual analogue scale, glenohumeral joint external rotation range of motion. Methods: Before the experiment, Lateral slide scapular test, grip strength, visual analogue scale, glenohumeral joint external rotation range of motion were measured. Scapulothoracic joint mobilization was applied and then measurements were taken again to compared the changes. Results: After applying the scapulothoracic joint mobilization, lateral slide scapular test, grip strength, visual analogue scale, glenohumeral joint external rotation range of motion significantly improved. Conclusion: This study found that the scapulothoracic mobilization was effective in improving functional aspects and pain on subject with lateral epicondylalgia. The results suggest that the scapulothoracic joint mobilization is a significant considered intervention method that could be used for subject with lateral epicondylalgia.

• 한국전문물리치료학회지
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• 제28권1호
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• pp.13-17
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• 2021

A normal range of motion is essential for performing activities of daily living. The capsular pattern is the proportional motion restriction in range of motion during passive exercises due to tightness of the joint capsule. Although the capsular pattern is widely referred to in clinical practice, there is no scientific evidence to support the concept. In this review, the appropriateness of the capsular pattern for evaluation of joint pathology was assessed. In the Textbook of Orthopaedic Medicine written by Cyriax, the capsular pattern did not specify how much reduction in angular motion is considered motion restriction. As the definition proposed initially was unclear, different methods have been used in previous studies investigating capsular pattern. In addition, the capsular pattern described all the major joints of the human body, but only the hip joint, knee joint, and shoulder joint were studied in experimental studies. Sensitivity and specificity were reported in one study and were meaningful in specific pathologies (loss of extension to loss of flexion). There was no consensus on the reliability and validity. In summary, the capsular pattern suggested by Cyriax or Kaltenborn is not supported or applies only to certain conditions. Various components around a joint complement each other and provide stability to the joint. It is recommended that the therapist perform multiple assessments rather than rely on a single assessment when evaluating joints.

• 한국의류산업학회지
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• 제18권3호
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• pp.338-350
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• 2016

The purpose of this study is to analyze joint angle for a range of swing motion derived through 3D motion analysis in order to design the ergonomic golf wear, use it for evaluation method of apparel fit to improve exercise functionality and provide the basic materials necessary for designing clothes. In order to do this, the subjects for this study were 3 men of age 20s. The data for a range of motion of golf swing were collected by using equipment for 3D motion analysis and then were used for analysis of joint angles and evaluation method of apparel fit. Range of motion was derived through 3D motion analysis of golf swing motion and joint angles for items of joint motion item and of X, Y, and Z-axis were calculated, respectively. In order to set the evaluation questions for evaluation of apparel fit, to find a range of motion at the maximal value and the minimal value of swing motion. As a result, during the swinging motion, neck extension, right shoulder extension, right/left elbow extension, right/left elbow supination did not appear. Items of joint motion showing the maximum at range of each swing motion were applied into 55 questions and consisted. The results of this study were meaningful as a basic study to apply 3D motion analysis to the fashion industry. It's expected to be used to design functional clothing.

• 한국운동역학회지
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• 제13권3호
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• pp.311-325
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• 2003

A relation between the movement range of arms and arising moment has been studied to find out efficient movement range to minimize impact concerning arm landing in sports aerobics. Four male athletes who won top three in national-level sports aerobics competition were chosen for the experiment. They were allowed to jump in between two force platform so that the right hand and the right leg could land onto the front and rear force platform, respectively. The sampling frequency was 200 Hz. The main conclusions based on the analysis of the angle and joint moment parameters of wrist, elbow, and shoulder are as follows: 1. The wrist moment was small when its angle was small, indicating that the dorsi-flexion of the wrist joint offered a positive influence to reduce wrist moment. 2. The elbow angle increased as wrist angle decreased and vice versa. This means that the movement range of the wrist joint affects that of the elbow joint. The darsi-flexion of the wrist is the position to absorb the impact of the elbow effectively rather than to absorb the impact of the wrist itself. The impact is absorbed by the flexion of wrist joint rather than the wrist. 3. The degree of moment transfer of the shoulder joint, having absorbed the impact from the elbow and elbow joint, became dependent on the efficiency of the fore-joints impact absorption.

• International Journal of Korean Welding Society
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• 제2권2호
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• pp.57-60
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• 2002

Generally, the laser vision sensor makes it possible design a highly reliable and precise range sensor at a low cost. When the laser vision sensor is applied to lap joint welding, however. there are many limitations. Therefore, a specially-designed hardware system has to be used. However, if the multi-lines are used instead of a single line, multi-range data .:an be generated from one image. Even under a set condition of 30fps, the generated 2D range data increases depending on the number of lines used. In this study, a laser vision sensor with a multi-line pattern is developed with conventional CCD camera to carry out high speed seam tracking in lap joint welding.

• 대한인간공학회지
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• 제21권1호
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• pp.81-93
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• 2002

This study aims to provide joint angles of comfort for females, based on the psychophysical scaling method. Ten female subjects participated in the experiment for measuring perceived discomfort for varying joint motions. The subjects were instructed to maintain given joint motions for a minute, and to rate their perceived discomfort for the motions during a minute's rest by using the free modulus method of the magnitude estimation. Joint angles of comfort were calculated from the regression equations based on the experimental results, in which levels of joint motions were used as independent variables and perceived discomforts as dependent variables. The results showed that joint angles of comfort for the joint motions investigated were much smaller than full range of motions for corresponding joint motions. The ratios of joint angle of comfort to its range motion for the hip were found to be smallest of all joint motions dealt with in this study, and those for the neck were the largest. In addition, comfortable joint angles for females were much smaller than those for males. It is recommended that when designing or evaluating workplaces ergonomically, different comfortable joint angles should be applied according to workers' or population's gender.

• 대한물리의학회지
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• 제11권1호
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• pp.93-105
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• 2016

PURPOSE: The purpose of this study was to determine the effect of corrective exercise on hip joint range of motion, lower limb alignment, radiographs of hip and knee joints, and quadriceps muscle activity in a patient with knee joint valgus deformity. METHODS: A single-subject A-B-A experimental design was used to determine the effects of therapeutic exercise. The single-subject was a 27-year-old male, who presented with knee joint valgus deformity. Corrective exercise program was performed for 40 min/day twice a week for 12-week. Range of motion (hip flexion, extension, abduction, adduction, internal rotation, and external rotation), lower limb alignment test (Q-angle, rear foot alignment, and leg length), standing anterior-posterior radiographs (neck shaft angle and knee joint space), and quadriceps muscle activity of both lower limbs were measured before (A 1), after 6 weeks (B 1) and after 12-weeks (B 2) of corrective exercise and after 6 weeks of exercise completion (A 2). RESULTS: Hip range of motion increased in all directions of both sides at B 2 and A 2 compared to at A 1. Q-angle of both side and leg length discrepancy decreased at B 2 and A 2 compared to at A 1. Neck shaft angle and knee joint space of both sides improve at B 2 and A 2 compared to at A 1. Quadriceps of both side muscle activities improved at B 2 and A 2 compared to at A 1. CONCLUSION: We demonstrated that corrective exercise increases range of motion, and improves lower limb alignment and muscle activity in a patient with knee joint valgus deformity.

• 국제물리치료학회지
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• 제6권1호
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• pp.824-827
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• 2015

The purpose of this study was to investigate the effects of joint position on the distraction distance in patients with adhesive capsulitis of glenohumeral joint. The study was conducted upon 20 adults in their 40's with the findings of adhesive capsulitis of glenohumeral joint. These subjects were subdivided into 3 groups, which were a group with neutral position(n=7), second group with resting position(n=7) and third group with end-range position(n=6). After having the subject wearing sleeveless shirts exposing armpit and lying straight on the plinth, a physical therapist with OMT qualification pulled glenohumeral joint at the Grade III of Kaltenborn-Evjenth traction; and the distance between glenoid fossa and humeral head was measured with ultrasound. Following the application of traction, the group with resting position($.67{\pm}0.29$) exhibited the longest distance between humeral head and glenoid fossa, and it was followed by neutral position($.50{\pm}0.25$) and end-range position($.35{\pm}.21$) in this order. From the comparison of these groups, there was no significant difference in distraction distance between resting position and neutral position; and there was again no significant difference in distraction distance between end-range position and neutral position. However, there was a significant difference in distraction distance between end-range position and resting position(p<.05). Upon application of the Grade III of Kaltenborn-Evjenth traction, it was evident that the distance between humeral head and glenoid fossa can be varied depending on the location of the joint.

• 대한족부족관절학회지
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• 제20권4호
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• pp.152-157
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• 2016

Purpose: To evaluate the effect of shortening scarf osteotomy on pain relief and range of motion (ROM) of the first metatarsophalangeal joint in hallux rigidus patients. Materials and Methods: Twenty-three cases of 19 patients who had been treated with shortening scarf osteotomy for the hallux rigidus between January 2007 and December 2013 were reviewed. The mean follow-up period was 21.4 months, and the mean age was 59.2 years. The first metatarsal bone was shortened until the ROM of the first metatarsophalangeal joint was greater than $80^{\circ}$ or $40^{\circ}$ of dorsiflexion. The length shortened by scarf osteotomy was measured. The authors also measured and compared the joint interval difference of the standing foot using an anteroposterior radiography. Moreover, the difference of ROM of the first metatarsophalangeal joint between the preoperative and final follow-up periods was also compared. The clinical results were evaluated and compared using the American Orthopaedic Foot and Ankle Society (AOFAS) scoring system and visual analogue scale (VAS) score. Results: The mean shortening length was about 6.5 mm (range, 4~9 mm). The joint space has been increased to 1.8 mm, and the ROM of the first metatarsophalangeal joint has also been increased to $18.4^{\circ}$ after the operation. In three cases, the postoperative ROM has been decreased to less $10^{\circ}$. The AOFAS score has been improved from 41.7 (range, 32~55) to 86.2 (range, 65~95), and the VAS score was also decreased from 3.7 (range, 3~5) to 1.3 (range, 0~3). Two cases have shown no decrease in pain even after the operation. Conclusion: Shortening scarf osteotomy was found to decrease joint pain by decompressing the pressure of the first metatarsophalangeal joint. This osteotomy also helped improve the ROM of the first metatarsophalangeal joint. Shortening scarf osteotomy can be considered one of the effective methods for joint preservation.