• Imaging Science in Dentistry
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• v.54 no.1
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• pp.71-80
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• 2024

Purpose: This study aimed to evaluate age-stratified radiographic features in temporomandibular joint osteoarthritis using cone-beam computed tomography. Materials and Methods: In total, 210 joints from 183 patients(144 females, 39 males, ranging from 12 to 88 years old with a mean age of 44.75±19.97 years) diagnosed with temporomandibular joint osteoarthritis were stratified by age. Mandibular condyle position and bony changes (flattening, erosion, osteophytes, subchondral sclerosis, and subchondral pseudocysts in both the condyle and articular eminence, thickening of the glenoid fossa, joint space narrowing, and joint loose bodies) were evaluated through cone-beam computed tomography. After adjusting for sex, the association between age groups and radiographic findings was analyzed using both a multiple regression model and a multinomial logistic regression model(α=0.05). Results: The prevalence of joint space narrowing and protruded condyle position in the glenoid fossa significantly increased with age (P<0.05). The risks of bony changes, including osteophytes and subchondral pseudocysts in the condyle; flattening, erosion, osteophyte, and subchondral sclerosis in the articular eminence; joint loose bodies; and thickening of the glenoid fossa, also significantly rose with increasing age (P<0.05). The number of radiographic findings increased with age; in particular, the increase was more pronounced in the temporal bone than in the mandibular condyle (P<0.05). Conclusion: Increasing age was associated with a higher frequency and greater diversity of bony changes in the temporal bone, as well as a protruded condyle position in the glenoid fossa, resulting in noticeable joint space narrowing in temporomandibular joint osteoarthritis.

• Journal of the Korean Society of Radiology
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• v.10 no.8
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• pp.603-610
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• 2016

This study was performed to analyze the results of radiologic parameters compared both leg weight bearing position to single leg weight bearing position in ankle osteoarthritis. Between January 2016 and June 2016, 25 patients (50 ankles) who visited our Hospital to treat ankle pain. In radiographic assessment, We masured tibial anterior surface angle(TAS), tibial medial malleolar angle(TMM), talar tilting angle(TT), joint space width(JSW), tibiotalar joint space, fibulotalar joint space of ankle as radiologic parameters. On the right leg of the both leg weight bearing position, TAS was $87.24^{\circ}$, TT was $6.44^{\circ}$, TMM was $26.76^{\circ}$, fibulotalar joint space was 0.98mm. Right leg of the single leg weight bearing position, TAS was $88.93^{\circ}$, TT was $2.41^{\circ}$, TMM was $19.77^{\circ}$, fibulotalar joint space was 1.6mm. And then, on the left leg of the both leg weight bearing position, TAS was $87.25^{\circ}$, TT was $5.71^{\circ}$, TMM was $23.92^{\circ}$, fibulotalar joint space was 1.22 mm and left leg of the single weight bearing position, TAS was 88.75, TT was $3.19^{\circ}$, TMM $21.45^{\circ}$, fibulotalar joint space was 1.22 mm. There are unsimilarity between measure values of TAS and tibiotalar joint space. As the result of test of weight bearing ankle study, it would be more exact to examine to measure one side in the first time rather than both to conclude on accurate measurement.

• Journal of Oral Medicine and Pain
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• v.44 no.2
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• pp.59-64
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• 2019

Purpose: The aim of this study was to analyse and evaluate the morphology of the articular eminence of temporomandibular joint in young Korean adults using cone-beam computed tomography (CBCT). Methods: One hundred seventy-one subjects (59 males, 112 females) in the 20s were examined using CBCT. Width and height of articular eminence, top-roof line angle, best-fit line angle, joint space were measured. For the group comparisons, independent t-test was used with the level of significance established at $p{\leq}0.05$. Results: In asymptomatic young Korean adults, average eminence width was $9.49{\pm}1.62mm$ in males and $9.33{\pm}1.36mm$ in females. Average eminence height was $7.23{\pm}1.81mm$ in males and $6.82{\pm}1.31mm$ in females. Average eminence inclination of measured by top-roof line angle was $37.09^{\circ}{\pm}7.74^{\circ}$ in males and $36.12^{\circ}{\pm}5.65^{\circ}$ in females. Average eminence inclination measured by best-fit line angle was $50.79^{\circ}{\pm}11.49^{\circ}$ in males and $48.43^{\circ}{\pm}9.05^{\circ}$ in females. Average joint space was $3.03{\pm}0.67mm$ in males and $2.63{\pm}0.68mm$ in females. Conclusions: Increasing age did not affect the morphology of the articular eminence in asymptomatic young Korean adults. Males had slightly larger eminence width, height, top-roof line angle, best-fit line angle and joint space, but no statistical significance (p>0.05) was observed only in the joint space (p=0.001). There was no side-to-side difference in morphology (p>0.05).

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.89-94
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• 1994

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• The Journal of Korean Orthopaedic Ultrasound Society
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• v.3 no.2
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• pp.59-64
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• 2010

Purpose: The purpose of this study was to analyze the correlation between medial joint space on Rosenberg view and the degree of ultrasonographic medial meniscal extrusion. Materials and Methods: Three hundred ninety knees with medial joint tenderness examined by ultrasonography were reviewed between January 2009 and May 2010. Medial joint space was divided into Grade I (${\geq}$ 4 mm), Grade II (3~4 mm), Grade III (2~3 mm), Grade IV (1~2 mm) and Grade V (0~1 mm). Then sonographaphic mid-medial extrusion of the medial meniscus was measured in each patient. After dividing into Group A that didn't have large osteophytes (${\geq}$ 3 mm, medial joint at tibia) and Group B that had them, the correlation between the medial joint space and medial meniscal extrusion were analyzed in each group. One-way ANOVA & Scheffe test on the SAS program were used for the statistical analysis (p<0.05). Results: There was a positive correlation between grade of the joint space and medial meniscal extrusion in Group A, but there was no positive correlation in Group B (p<0.05). Conclusion: To the patients who didn't have advanced osteoarthritis, the narrowing of the medial joint space was one of the predictive factors for mid-medial extrusion of the medial meniscus.

• Tunnel and Underground Space
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• v.7 no.3
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• pp.202-207
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• 1997

Jointed rock is often modeled using ubiquitious joint models, anisotropic plasticity models with yield condions that simulate slip along joint sets. In this paper, a ubiquitous joint model is derived for a rock mass cut by two sets of continuous joints. The model is used to compute the bearing capacity of a footing resting on jointed rock. Comparison to a series of Distinct Element simulations with different joint spacings, suggests that ubiquitous joint modles are only appropriate when the joint spacing is small.

• The korean journal of orthodontics
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• v.23 no.3 s.42
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• pp.405-414
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• 1993

Among the radiographs for temporomandibular joint, transcranial radiograph is widely used for screening and diagnosing temporomandibular disorder because it has sharp image and it is easy to take. This study was performed to compare condylar position and image sharpness in standard and individually corrected transcranial radiographs using Accurad-200 headholder. Submentovertex view, Reverse-Towne view, Standard and individually corrected transcranial radiographs of 45 university students who were randomly selected were traced, measured and analyzed. The results were as follows : 1. The means of condylar axes and lateral slopes were $16.8^{\circ}\;and\;22.5^{\circ}$ respectively. There were no differences between male and female or right and left side. 2. Individually corrected radiographs showed smaller posterior joint ,space and larger anterior joint space than standard radiographs, but superior joint space did net show a statistical difference between standard and individually corrected radiographs. 3. While a large number$(42.2\%)$ of the standard radiographs showed concentric condylar position, lots of(57.8) condylar positions were retropositioned in the individually corrected radiographs. 4. The image sharpness was inferior in the individually corrected radiographs to that of the standard radiographs.