• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.532-539
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• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.

• Journal of Korean Institute of Industrial Engineers
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• v.26 no.3
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• pp.257-264
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• 2000

This research suggested a method by which the driver space can be designed to best accommodate the driver's anthropometric characteristics. Three-dimensional manikins and a variable seating buck were developed and used for this study. Manikins were designed with 18 links comprising the 95th percentile male and 5th percentile female data. The seating buck was built to create various driving environments using the distance and the height between the H-point(hip pivot) of the seat and the AHP(accelerator heel point), the angle of the back rest, the angle of the steering wheel, the vertical distance of the steering wheel, and the location of the T.G.S.(transmission gear shift) knob. Measurements of each variable were collected with a coordinate measuring machine by positioning the 3-D manikin under various combinations of the design factors of the seating buck, which was constructed based on mid-size domestic passenger cars. The data were then converted to the joint angles of the driver. The combination of the measurements for an optimal driving environment is suggested by applying sets of the joint angles at which the driver feels comfortable.

• Korean Journal of Applied Biomechanics
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• v.23 no.3
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• pp.245-252
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• 2013

The purpose of this study was to analyze the effect that various loads have on the lower limb biomechanics. The following variables were measured and analyzed; performance time for each phase, lower limb moments and joint angles, and ground reaction forces. The kinematic and kinetic data was recorded by 2 force platforms and a motion capture system while 12 healthy adults in their twenties stepped down three steps under loads of 0%, 10%, 20% BW. Results are as follows. First, the different loading conditions did not seem to significantly affect the performance times and the joint angles. Second, the largest ground reaction forces were observed at the 1 step at the 10% BW condition. Finally, at the 0% BW loading condition the right hip extension moment was the smallest and the left hip flexion moment was the largest. The results show that there are not any significant changes in the biomechanics of the lower limbs under loading conditions up to 20% BW. Further investigations including more loading conditions with more weights and more additional steps analyzed are needed.

• Korean Journal of Applied Biomechanics
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• v.23 no.3
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• pp.235-243
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• 2013

The purpose of this study was to analyse scientific according to period of rehabilitation training of ACL patients. ACL patients seven subjects participated in this study. Gait (1.58 m/sec) analysis was performed by using a 3-D Cinematography, a Zebris system and a electromyograph system. The data were analyzed by paired t-test. The joint angles were recorded from the ankle, knee, hip joints. Peak max dorsi-flexion and peak max plantar-flexion identified significant differences (p<0.05). Another angles were no significant difference. Vertical force (Fz) and max pressure variables improved 6 month RTP better than 3 month RTP. EMG were collected from 4 muscles (rectus femoris, biceps femoris, gastrocnemius, tibialis anterior) with surface electrides in gait system. EMG signals were rectified and smoothed data. EMG signas were no significant difference but they also improved 6 month RTP better than 3 month RTP. More research is necessary to determine exactly what constitutes optimal rehabilitation training period for ACL patients.

• Journal of Korean Physical Therapy Science
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• v.25 no.3
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• pp.25-31
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• 2018

Background: The purpose of this study was to find out how changes in knee angles in stable and unstable support surfaces affect the muscle thickness of core muscles. Methods: The subjects of this study were 25 male adult. Each knee angle of 120, 90 and 60 degrees, they were performed bridge exercise on the stabilized surface and on the unstable support surface using TOGU, and measured the muscle thickness of the external and internal oblique muscle and the abdominal muscles through ultrasound images. Results: There was no significant difference between the thickness of the rectus abdominis and the internal oblique muscle depending on the support surface and the knee joint bending angles. However, there was a significant difference between the external oblique muscle and the transverse abdominis muscle by knee joint flexion angle. Conclusion: While the muscle thickness of the core muscle was not significantly affected by each support surface during the bridge exercise, there were significant changes in the core muscle as a result of changes in knee angle.

• International journal of advanced smart convergence
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• v.11 no.4
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• pp.57-67
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• 2022

The demand for personal training (PT), through which high exercise effects can be achieved within short-term, has recently increased. PT can achieve an exercise amount improvement effect, only if accurate postures are maintained upon performing PT, and exercise with inaccurate postures can cause injuries. However, research is insufficient on exercise amount comparisons and judging exercise accuracy on PT. This study proposes an exercise accuracy measurement algorithm and compares differences in exercise amounts according to exercise postures through experiments using a respiratory gas analyzer. The exercise accuracy measurement algorithm acquires Euler anglesfrom major body parts operated upon exercise through a motion device, based on which the joint angles are calculated. By comparing the calculated joint angles with each reference angle in each exercise step, the status of exercise accuracy is judged. The calculated results of exercise accuracy on squats, lunges, and push-ups showed 0.02% difference in comparison with actually measured results through a goniometer. As a result of the exercise amount comparison experiment according to accurate posture through a respiratory gas analyzer, the exercise amount was higher by 45.19% on average in accurate postures. Through this, it was confirmed that maintaining accurate postures contributes to exercise amount improvement.

• Korean Journal of Applied Biomechanics
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• v.33 no.4
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• pp.128-136
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• 2023

Objective: The aim of this study was to investigate the effect of an 8-week closed kinetic chain typed Reformer and Chair Pilates exercise on static and dynamic lower limb alignment for healthy female adults. Method: Ten healthy young female adults without musculoskeletal injury history in last 6 months (Age: 29.3 ± 3.5 yrs., Height: 165 ± 3.4 cm, Body mass: 58.2 ± 5.4 kg) participated in this study. All participants asked to join the 8-week closed kinetic chain typed Reformer and Chair Pilates exercise, and the program was conducted for 60 minutes twice a week. Participants were asked to be measure a static Q-angle and performed free squat one week before and after the program. A 3-D motion analysis with 8 infrared cameras and 5 channels of EMG was executed in this study. The effectiveness of the training was evaluated by paired t-test, and the significance level was set at .05. Results: A significantly decreased in internal rotation angles was found at hip joint during free squat after the training. Also, significantly decreased in lateral rotation angles were found at knee and ankle joint during free squat after training. Finally, significantly decreased in muscle activations were found at adductor longus and peroneus longus during free squat after training. Conclusion: From results of our study, it is concluded that an 8-week closed kinetic chain typed Pilates exercise positively effect on lower limb alignment during dynamic movement.

• Korean Journal of Applied Biomechanics
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• v.26 no.4
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• pp.433-441
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• 2016

Objective: The purpose of this study was to understand the injury mechanism and to provide quantitative data to use in prevention or posture correction training by conducting kinematic and kinetic analyses of risk factors of lower extremity joint injury depending on the change of direction at different angles after a landing motion. Method: This study included 11 men in their twenties (age: $24.6{\pm}1.7years$, height: $176.6{\pm}4.4cm$, weight: $71.3{\pm}8.0kg$) who were right-leg dominant. By using seven infrared cameras (Oqus 300, Qualisys, Sweden), one force platform (AMTI, USA), and an accelerometer (Noraxon, USA), single-leg drop landing was performed at a height of 30 cm. The joint range of motion (ROM) of the lower extremity, peak joint moment, peak joint power, peak vertical ground reaction force (GRF), and peak vertical acceleration were measured. For statistical analysis, one-way repeated-measures analysis of variance was conducted at a significance level of ${\alpha}$ <.05. Results: Ankle and knee joint ROM in the sagittal plane significantly differed, respectively (F = 3.145, p = .024; F = 14.183, p = .000), depending on the change of direction. However, no significant differences were observed in the ROM of ankle and knee joint in the transverse plane. Significant differences in peak joint moment were also observed but no statistically significant differences were found in negative joint power between the conditions. Peak vertical GRF was high in landing (LAD) and after landing, left $45^{\circ}$ cutting (LLC), with a significant difference (F = 9.363, p = .000). The peak vertical acceleration was relatively high in LAD and LLC compared with other conditions, but the difference was not significant. Conclusion: We conclude that moving in the left direction may expose athletes to greater injury risk in terms of joint kinetics than moving in the right direction. However, further investigation of joint injury mechanisms in sports would be required to confirm these findings.

• Journal of the Ergonomics Society of Korea
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• v.25 no.4
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• pp.93-101
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• 2006

This study examined whether there is a transfer effect to other joint angles and the angular specificity of muscle fatigue after 6 weeks of isometric training of the vastus medialis. Twenty subjects were randomly assigned to 30° and 90° knee flexion groups and were trained at 80% maximal voluntary isometric contraction(MVIC) three times a week for 6 weeks. The pre-and post-training values of the 80% holding time(endurance time) of MVIC, the Fatigue Index(FI), and the MVIC at 30°, 60°, and 90° were compared. After isometric training for 6 weeks, in the 30° knee flexion group, FI decreased significantly(p<0.05) only at 30°, which was the training angle; there was no change at other angles. By contrast, in the 90° knee flexion group, FI decreased significantly(p<0.05) at both the trained angle and at the other angles, indicating a transfer effect of training. MVIC did not increase significantly(p<0.05) at any trained angle in either the 30° or 90° knee flexion groups after 6 weeks of isometric training, neither did the 80% holding time of MVIC differ significantly compared with pre-training in either group. These findings suggest that training at 90° of knee flexion is more effective than training at 30° of knee flexion for obtaining a training transfer effect on muscle fatigue in the vastus medialis.

• Journal of the Korean GEO-environmental Society
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• v.19 no.2
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• pp.13-21
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• 2018

The magnitude and distribution of earth pressure on the excavation wall in jointed rock mass were examined by considering different wall permeability conditions as well as rock types and joint inclination angles. The study was numerically extended based on a physical model test (Son & Park, 2014), considering rock-structure interactions with the discrete element method, which can consider various characteristics of rock joints. This study focused on the effect of the permeability condition of excavation wall on the earth pressure in jointed rock masses under a groundwater condition, which is important but has not been studied previously. The study results showed that the earth pressure was highly influenced by wall permeability as well as rock type and joint condition. Earth pressure resulted from the study was also compared with Peck's earth pressure in soil ground, and the comparison clearly showed that the earth pressure in jointed rock mass can be greatly different from that in soil ground.