• The Journal of Korean Physical Therapy
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• 제12권3호
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• pp.433-444
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• 2000

The purpose is paper was to discuss current concepts related to anatomic stabilizing structures of the shoulder joint complex and their clinical relevance to shoulder instability. The clinical syndrome of shoulder instability represents a wide spectrum of symtoms and signs which may produce various levels of dysfunctions, from subtle subluxations to gross joint instability. The glenohumeral joint attains functional stability through a delicate and intricate interaction between the passive and active stabilizing structures. The passive constraints include the bony geometry, glenoid labrum, and the glenohumeral joint capsuloligaments structure. Conversely, the active constraints, also referred to as active mechanism, include the shoulder complex musculature, the projprioceptive system, and the musculoligamentous relationship. The interaction of the active and passive mechanism which provide passive and active glenohumeral joint stability will be throughtly discussed in this paper

• 대한전기학회논문지:시스템및제어부문D
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• 제55권7호
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• pp.319-326
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• 2006

This paper proposes a novel fault-tolerant gait for Quadruped robots using energy stability margins. The previously developed fault-tolerant gaits for quadruped robots have a drawback of having marginal stability margin, which may lead to tumbling. In the process of tumbling, the potential energy of the center of gravity goes through a maximum. The larger the difference between the potential energy of the center of gravity of the initial position and that of this maximum, the less the robot tumbles. Hence this difference of potential energy, dubbed as Energy Stability Margin (ESM), can be regarded as the stability margin. In this paper, a novel fault-tolerant gait is presented which gives positive ESM to a quadruped robot suffering from a locked joint failure. Positive ESM is obtained by adjusting foot positions between leg swing sequences. The advantage of the proposed fault-tolerant gait is demonstrated in a case study where a quadruped robot with a failed leg walks on a even slope.

• 터널과지하공간
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• 제5권1호
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• pp.1-10
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• 1995

The behavior of a jointed rock mass depends mainly on the geometrical and mechanical properties of joints. The failure mode of a rock mass and kinematics of rock blocks are governed by the orientation, spacing, and persistence of joints. The mechanical properties such as dilation angle, shear strength, maximum closure, strength of asperities and friction coeffiient play important roles on the stability and deformation of the rock mass. The normal and shear behaviour of a joint are coupled due to dilation, and the joint deformation depends also on the boundary conditions such as stiffness conditons. In this paper, the joint constitutive law including the dilatant behaviour of a joint is numerically modelled using the edge-to-edge contact logic in distinct element method. Also, presented is the method to quantify the input parameters used in the joint law. The results from uniaxial compression and direct shear tests using the numeical model of the single joint were compared to the analytic results from them. The boundary effect on the behaviour of a joint is verified by comparing the results of direct shear test under constant stress boundary condition with those under constant stiffness boundary condition. The numerical model developed is applied to a complex jointed rock mass to examine its performance and to evaluate the effect of joint dilation on tunnel stability.

• 한국운동역학회지
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• 제33권1호
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• pp.34-44
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• 2023

Objective: The purpose of this study was to examine the effects of increasing running speed on human stability by comparing the Lyapunov Exponent (LyE) and Coefficient of Variation (CV) methods, with the goal of identifying key variables and uncovering new insights. Method: Fourteen adult males (age: 24.7 ± 6.4 yrs, height: 176.9 ± 4.6 cm, weight: 74.7 ± 10.9 kg) participated in this study. Results: In the CV method, significant differences were observed in ankle (flexion-inversion/eversion; p < .05) and hip joint (internal-external rotation; p < .05) movements, while the center of mass (COM) variable in the coronal axis movements showed a significant difference at the p < .001 level. In the LyE method, statistical differences were observed at the p < .05 level in knee (flexion-extension), hip joint (internal-external rotation) movements, and COM across all three directions (sagittal, coronal, and transverse axis). Conclusion: Our results revealed that the stability of the human body is affected at faster running speeds. The movement of the COM and ankle joint were identified as the most critical factors influencing stability. This suggests that LyE, a nonlinear time series analysis, should be actively introduced to better understand human stabilization strategies.

• Physical Therapy Rehabilitation Science
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• 제8권1호
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• pp.40-44
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• 2019

Objective: The purpose of this study was to examine the changes in postural stability according to ankle fixation in healthy university students. Design: Cross-sectional study. Methods: Thirty healthy subjects (15 males and 15 females, 20.13 years, 167.49 cm, 65.87 kg) were recruited on a voluntary basis. The BT4 system (HUR Laps Oy, Tampere, Finland) was used to measure the static (standing posture with eyes open and eyes closed) and dynamic (external perturbation and limits of stability (LOS) in the forward, backward, left, and right side) balance abilities. External perturbation was measured by the subject's postural sway velocity and area for 20 seconds after being impacted by a gym ball. Static and dynamic stabilities were measured with ankle joint fixation and non-fixation conditions. Ankle fixation was provided using Mueller tape on both ankle joints. Results: For static stability under the standing posture, there was no significant difference between standing with ankle joint fixation and non-fixation conditions. However, dynamic stability (external perturbation and LOS in the forward, backward, left, and right side) was significantly higher in the standing with the non-fixation condition compared to the standing with ankle joint fixation condition (p<0.05). Conclusions: Our results reveal that ankle joint fixation can influence dynamic stability during standing. Thus, we believe that this result provides basic information for making improvements in postural control and may be useful in balance training for fall prevention.

• 한국수자원학회논문집
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• 제49권12호
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• pp.1035-1044
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• 2016

제방과 보의 접속부에서는 복잡한 3차원이 흐름이 발생하여 붕괴가 자주 발생한다. 따라서 연결부에는 일반적인 호안에 비해 큰 안정성을 가진 연결호안의 설치가 필요하다. 그러나 연결호안에 대한 설계기준은 하천설계기준에 제시되어 있지 않기 때문에 연결호안의 공학적인 설계를 위한 연구가 필요하다. 본 연구에서는 연결호안에 사석을 포설하고 사석의 이탈조건을 파악하기위해 유량을 변화시켜가며 실험을 수행하였으며 실험수로는 폭 4 m, 길이 20 m의 직선수로이며 한쪽에만 제방이 설치되어 있다. 연결호안의 사석직경은 0.03 m 이며 유입유량은 $0.5{\sim}0.8m^3/s$이다. 동일한 조건에 대한 수치모의를 수행하여 연결부에 대한 흐름조건 및 제방 비탈면의 전단응력 등의 분포를 통해 영향범위를 파악하였다. 그 결과 연결호안의 경우 일반호안에 비해 사석직경이 4.1~6.9배 크게 산정되는 것으로 나타났으며 사석의 이탈속도가 같아도 유량이 클수록 취약지역의 범위가 하류방향으로 더 길게 발달하는 것으로 나타났다. 본 연구를 통해 연결호안 주변의 수리학적 특성에 따른 사석직경 및 영향범위를 산정하는 방법을 제안하였으며 추후 고수부지의 영향, 다양한 형식의 보와 호안에 대한 실험과 추가적인 검토가 수행된다면 연결호안의 안정성을 확보 할 수 있는 합리적인 설계방법을 제시할 수 있을 것이라고 기대된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.101-106
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• 1997

This paper proposes a stable adaptive neural network control(NNC) for fixable joint manipulators. For designing the stable adaptive NNC, the flexible system dynamics is separated into fast and slow subdynamics according to singular perturbation concept. For the slow subdynamics, an adaptive NNC is designed to warrant the system stability and NN learning by lyapunov stability criterion. And to stabilize the fast dynamics, derivative control loop is installed. Through numerical simulation, the performance of the proposed NNC was compared to that of an adaptive controller designed based on the knowledge of the system dynamics. The proposed NNC shows much improvement over the conventional adaptive controller.

• 대한관절경학회:학술대회논문집
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• 대한관절경학회 2008년도 춘계 공동 학술대회
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• pp.39-40
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• 2008

• 대한족부족관절학회지
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• 제24권4호
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• pp.165-167
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• 2020

Failure to achieve stable fixation during surgery for a Lisfranc joint injury leads to subtle instability that causes dysfunction and posttraumatic osteoarthritis. Therefore, it is important to check for appropriate fixation during surgery. This paper reports a test that evaluates the joint instability dynamically during the open reduction of the Lisfranc joint and checks the stability after fixation. a Freer elevator was inserted into the interosseous area between the medial cuneiform and second metatarsal base, and a twisting force was applied to evaluate the dynamic instability of the Lisfranc joint. After fixation of the Lisfranc joint, the stability of the fixation could be tested by trying this maneuver with the Freer elevator. Overall, the Freer test can be considered a valuable test in open surgery for a Lisfranc joint injury.

• 대한토목학회논문집
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• 제36권4호
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• pp.659-665
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• 2016

풋월 비탈면 설계 시 해석시간이 짧고, 간편하여 한계평형법을 주로 이용하였으나, 쟁기형태파괴를 모사하기에는 어려움이 따른다. 따라서, 본 연구에서는 2차원 DEM (Distinct Element Method) 해석프로그램인 UDEC을 이용해 수치해석을 수행하여 풋월 비탈면에서 발생되는 쟁기형태파괴에 미치는 영향인자를 분석하였다. 매개변수분석은 암반절리(층면절리, 공액절리, 비탈면의 하단에 위치한 절리)의 구조 및 암반절리상태 등을 변경하여 수행하였으며, 비탈면의 안전율은 강도감소법(Strength Reduction Method)을 이용하여 산정하였다. 수치해석 결과를 통해 쟁기형태파괴는 공액절리(conjugate joint)의 경사각에 주로 의존하고 있음을 확인할 수 있었으며, 층리의 한계간격 및 슬래브의 한계길이가 공액절리의 경사각에 영향을 받는 것으로 나타났다. 본 연구결과는 비탈면 보강을 포함한 풋월 비탈면의 최적설계 및 시공에 적용될 수 있을 것으로 판단된다.