• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.4
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• pp.331-338
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• 2005

In this paper the novel pulsewidth modulation(PWM) technique for the two-leg and four-leg two-phase inverter is proposed. The conventional space vector PWM technique for two-phase inverter was complex. The proposed PWM for two-leg inverter, which is used by sinusoidal PWM method, is simpler than the conventional SVPWU technique. Also, a simple PWM technique for four-leg two-phase inverter is proposed. Such PWM technique is based on PWM technique for two-leg inverter. Practical verification of theoretical predictions is presented to confirm the capabilities of the new techniques.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.285-292
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• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.709-717
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• 2013

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

• Physical Therapy Korea
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• v.2 no.1
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• pp.44-50
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• 1995

The purpose of this study was to investigate which of 4 positions produced the highest action potential in the rectus femoris muscle of normal adult subjects. Testing was performed in supine with the right leg performing a simple straight leg raise with the knee fully extended. The left leg, however, was placed in 4 different positions: 1. Full support with $0^{\circ}$ flexion. 2. Flexed on the plinth with $60^{\circ}$ knee flexion and foot flat. 3. Same as N0.2 but with $90^{\circ}$ knee flexion. 4. Left leg hanging over the end of the plinth with $90^{\circ}$ knee flexion, $0^{\circ}$ hip flexion and no foot support. This study was designed to compare the level of electromyographic activity of the rectus femoris under 4 positions. Fourty-three healthy young adults performed three trials of each exercise condition in random order in the supine position. Electromyographic activity was recorded from surface electrodes. Rectus femoris action potentials in all 4 positions were significantly different. The highest action potential at the end of movement of the right leg occurred with the left leg hanging over the end of the plinth with $90^{\circ}$ knee flexion. It is therefore recommended the straight leg raising be performed with the contralateral leg flexed at $90^{\circ}$ over the end of the supporting surface to obtain a maximum rectus femoris isometric contraction.

• Journal of the Korean Society of Clothing and Textiles
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• v.39 no.1
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• pp.63-76
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• 2015

This study conducted a survey to gauge the buying and wearing propensities of wearers of leg guards made for baseball catchers, as well as product characteristics of preferred leg guards. Data from the survey were analyzed to obtain basic data for the development of an advanced leg guard design. Degree of compression, horizontal distance, cross section view and outline 3D sketch were also analyzed from the 3D data of leg guards; in addition, mobility and kinematic analysis were conducted through a wearing test. The survey indicated that imported products dominate the current retail market because they are appreciated by customers in terms of fit, price, brand, and protection. Representative complaints of products were discomfort, pressure, and the heavy-weight of the leg guards in general attributed to overall structure and 3D shape. When the pressure was lower on the front area of knee, it feels better to wear and the average knee angular velocity during the up and down motion increased, which suggests a better design from a kinematic point of view. The knee is the primary part of the body responsible for any movement of the lower limbs; consequently, the degree of compression and support stability of the leg guards near the knee area are important factors to evaluate the performance of leg guards. The results of our study indicate significant opportunities for improvement in product design and the development of baseball leg guards along with an ergonomic design that considers the mobility of the knee, skin deformations is necessary to improve performance. The process followed in this study will be applicable to studies on other personal protective equipment for sports.

• Journal of the Korean Society of Clothing and Textiles
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• v.17 no.4
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• pp.608-621
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• 1993

The Purposes of this study were 1)to find the body surface total line and segment line significantly(${\alpha}$=0.05) changed by the leg movement including all movement direction of hip joint, knee joint and ankle joint for the more functional clothing. 2)to classify them into 3 types-expansion type, contraction type, expansion & contraction type, and 3)to identify the characteristics of the body surface length changes. 10 Crosswise and 5 lengthwise body surface total lines and 48 crosswise & 39 lengthwise body surface segment lines of 26 female college students aged from 18 to 24 years were measured directly on the body surface and were analyzed by ANOVA & Multiple Comparison Test (Tukey). The results were as following : Body surface total lines significantly changed were all the body surface total lines except abdoman girth, 1/2thigh girth of lower leg and ankle girth, and these were classified into 3 types : Center front leg line belonged to expansion & contraction type, whereas lateral leg line, legscye girth, and total crotch length belonged to contraction type. The rest belonged to expansion type. Knee girth showed maximum expansion, whereas center front leg line showed maximum contraction. Body surface total lines have shown large expansion crosswise whereas lengthwise they have mainly shown contraction. At least more than one component segment line of each body surface total lines except abdoman girth and ankle girth have shown significant change. Top segment of inner leg line showed maximum expansion. whereas just below top segment of center front leg line showed maximum contraction. Crosswise all the body surface segment lines have shown expansion except inner back segments of thigh girth and 1/2thigh girth of upper leg which have shown contraction. Lengthwise they have shown both expansion and contraction according to the location of front or back, and below or upper 1/2thigh girth line except the component segment lines of lateral leg line, which has shown contraction only.(cf. figure 2. figure 3. and table 2-2).

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.21 no.1
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• pp.29-35
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• 2015

Background: The purpose of this study was conducted to investigate the effect of incidence of ankle sprains on both leg length inequalities and range of motion of ankle joint in 20's female university students. Methods: 20's female university students were targeting 32 people attending K university in Gwangju. Both leg length inequality was measured using a tape measure, ranges of motion of ankles was measured using a goniometer. Results: The ankle sprain incidence was quite high, with 56.25% (n=18) for the right ankle, 34.38% (n=11) for the left ankle, and 9.38% (n=3) for both. As for the difference between the ankle sprain incidence and both leg length, the average value of the right leg was $83.08{\pm}3.69$, the average value of the left leg was $84.28{\pm}3.27$, making the right leg shorter than the left by 1.2cm with a higher incidence and showing a positive statistical correlation between the two (p<.05). Also showed that there was a negative statistical correlation between ankle sprain incidences and the inversion range of motion spread of the right ankle (p<.05). Conclusion: The incidence of ankle sprains was higher for the larger the difference between both leg length inequality. In addition, the smaller the inversion range of motion spread of the right ankle, the higher the incidence of ankle sprains. Therefore, The evidence suggests that the incidence of ankle sprains can be reduced by recommending stability and efficient exercises that take into consideration the both leg length as well as the ranges of motion of ankle joints.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.15 no.1
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• pp.9-21
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• 2009

Purpose : To know how much weight bearing on left and right leg on 14 different positions. The second is to know how about different the weight bearing ratio on same positions of ages group. Methods : The third is to know how about changes the weight bearing ration between exercise group and non exercise group. The group of age is divided 20s, 30s, 40s, 50s, over the 60 years. The subjects are 93 males(44), females(49). Results : The ordering of ratio of weight bearing on one side leg is as follows: The position of the highest weight bearing ratio is one leg standing with the other leg on chair(right 0.82, left 0.81) and the position of lowest weight bearing ratio is hooklying with natural leg position(both legs 0.08). There are statistically significant difference between right and left leg of weight bearing ratio on the 6 positions among the 14 positions. As for the ages, there are statistically significant difference on 5 different positions of 20 ages body weight bearing ratio between right and left leg. But as for the 50 ages there are no statistically significant difference on all of 14 positions between right and left leg body weight bearing. As for the exercise group there are statistically significant difference on only one position of one leg standing with the other leg on chair between right and left weight bearing ratio. But as for non exercise group there are statistically significant difference on 4 positions between right and left weight bearing ratio. Conclusion : When the therapist exercise with patient's always considerate of patient's position and weight bearing ratio.

• Fashion & Textile Research Journal
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• v.11 no.1
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• pp.130-139
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• 2009

This study was conducted to reproduce the Leg of Mutton Sleeve pattern of the ladies' costume of the 1890's for Korean women of the twenties who have the standard body type and the average size. Nineteen Leg of Mutton Sleeve patterns of the ladies' costume of the 1890's were collected and drawn to actual size. Nineteen Leg of Mutton Sleeve patterns of the ladies' costume of the 1890's were classified into three groups(S1~S3) by the pattern pieces and the bend of the lower part of the elbow line. The S1 was one-piece sleeve pattern and the lower part of the elbow line of S1 was not bent. The gathers volume of sleeve cap of S1 was smaller than S2 and S3. The S2 was one-piece sleeve pattern and the lower part of the elbow line of S2 was bent. The S2 pattern had typical characteristics of the Leg of Mutton Sleeve that the gathers volume of sleeve cap was large and the lower part of elbow line was tight. The S3 was two-piece sleeve pattern and the lower part of the elbow line of S3 was bent. The gathers volume of sleeve cap of S3 was similar with S2. The study patterns of three groups of the Leg of Mutton Sleeve which had the characteristics and the silhouette of the Leg of Mutton Sleeve pattern of the ladies' costume of the 1890's were designed like for Korean women of the twenties who have the standard body type and the average size through modifications based on the evaluation of dressing on two occasions. The study pattern of three groups of the Leg of Mutton Sleeve were evaluated to have the silhouette of the Leg of Mutton Sleeve of the 1890's and to fit Korean women of the twenties who have the standard body type and the average size with the sensory test.

• PNF and Movement
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• v.18 no.1
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• pp.35-44
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• 2020

Purpose: The purpose of this study was to investigate the effect of the simultaneous abdominal drawing-in maneuver (ADIM) on the muscle activity of the ipsilateral trunk and leg during proprioceptive neuromuscular facilitation (PNF) leg flexion, adduction, and external rotation with knee flexion (D1) patterns. Methods: The participants were 20 healthy adult males and females (18 males and 2 females). The maneuvers were performed by a physical therapist who fully understands the PNF leg patterns (D1) and their application in clinical practice. The participants were trained and allowed to practice for 15 minutes prior to applying ADIM, to ensure adequate learning as evidenced by the pressure biofeedback unit. In this study, we measured the muscle activity of the trunk and leg when the PNF leg pattern (D1) was performed by the physical therapist either sustaining or releasing the ADIM. Muscle activity was measured on the right transverse abdominis muscle (TRA), the external abdominal oblique muscle (EO), the internal abdominal oblique muscle (IO), the erector spinae muscle (ES), the vastus medialis oblique muscle (VMO), the vastus lateralis oblique muscle (VLO), and the tibialis anterior muscle (TA) and compared using the mean values from averaging three repeated measurements. Results: The muscle activity of the transversus abdominis, the external abdominal oblique, the internal abdominal oblique, the vastus medialis oblique, and the vastus lateralis oblique was significantly greater (p < 0.05), and the muscle activity of the erector spinae was significantly less (p < 0.05) during PNF leg pattern (D1) when the ADIM contraction was sustained compared to when it was not. Conclusion: These results suggest that sustaining ADIM during PNF leg pattern (D1) training increases the trunk and leg muscle activity, resulting in more effective training.