• The Journal of Korean Physical Therapy
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• v.33 no.3
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• pp.168-177
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• 2021

Purpose: This study applies the ICF to identify the patient's body function, structure, and participation, evaluates the patient's environmental factors and individual factors, and is a high level of movement to return to the society of patients with multiple ligament injury of the knee joint. Methods: Progressive strength training and ROM exercise were performed 30 minutes a day, 5 times a week for 6 weeks. The evaluation was performed by examining the ROM, length, MMT, instability, dynamic balance, pain and depression. Results: The ROM of the knee joint was improved from 110° to 135° after intervention, and the knee flexion length decreased from 69 cm to 45 cm. Knee flexor is Good after intervention from Poor-, and knee extensor is Good+ after intervention from Poor, and the plantar flexor of the ankle joint improved from Poor- before intervention to Good after intervention and dorsi-flexor of the ankle joint improve to Good from Poor. Pain index was moderate before and after the intervention, with a score of 3, 2 after the intervention, and when maintaining the sitting cross-legged, the before intervention score was 7 to 4 after the intervention. Conclusion: The patient's posture of sitting cross-legged was maintained from 30 seconds before intervention to 14 minutes after intervention. These results were able to set the hypothesis design, intervention method and goal that the multifaceted approach of environment and individual factors as well as body function and structure area, activity and participation area using ICF checklists, it is helped the patient to return to daily life.

• International Journal of Highway Engineering
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• v.16 no.2
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• pp.119-129
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• 2014

PURPOSES : The purpose of this study is to develop the U-turn accident model at 4-legged signalized intersections in urban areas. METHODS : In order to analyze the characteristics of the accidents which are associated with U-turn operation at 4-legged signalized intersections in urban areas and develop an U-turn accident model by regression analysis, the tests of overdispersion and zero-inflation are conducted about the dependent variables of number of accidents and EPDO (Equivalent Property Damage Only). RESULTS : As their results, the Poisson model fits best for number of accident and the ZIP (Zero Inflated Poisson) fits best for EPOD, the variables of conflict traffic, width of opposing road, traffic passing speed are adopted as independent variable for both models. The variables of number of bus berths and rate of U-turn signal time at which the U-turn is permitted are adopted as independent variable only for EPDO. CONCLUSIONS : These study results suggest that U-turn would be permitted at the intersection where the width of opposing road is wider than 11.9 meters, the passing vehicle speed is not high and U-turn operation is not hindered by the buses stopping at bus stops.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.645-650
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• 2003

Legged robots can avoid an obstacle by crawling-over or striding, according to the obstacle’s nature and the current state of the robot. Thus, it can be observed that the mobility efficiency to reach a destination is improved by such action. Moreover, if robots have many legs like 4-legged or 6-legged types, then the robot movement range is affected by the order of swing leg. In this paper, the avoidance action of a quadruped robot is generated by a neural network (NN) whose inputs are information on the position of the destination, the obstacle configuration and the robot's self-state. To realize a free gait in static walking, the order of swing leg is determined using an another NN whose inputs are the amount of movements and the robot’s self-state. The design parameter of the latter NN is adjusted by using genetic algorithm (GA).

• Journal of the Korean Society of Physical Medicine
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• v.12 no.3
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• pp.67-71
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• 2017

PURPOSE: Muscle fatigue is a cause to change proprioception. The purpose of this study was to investigate the effects of calf muscle fatigue and visual control on postural balance during single-legged standing in healthy adults. METHODS: Nineteen healthy adults (male) were participated in this study (mean age: 24.36 years; mean height: 171.32 cm; mean weight: 64.58 kg). The postural balance (sway length, sway area, sway velocity of COG displacement) was measured by Balance Trainer System (BT4) in before and after calf muscle fatigue feeling in single legged stance. In this study, repetitive single-legged heel rise test was used to induce fatigue of the calf muscle. Paired t- test was used to compare the postural balance between before and after calf muscle fatigue. Data of subjects were analyzed using SPSS 22.0 (SPSS Inc., Chicago, IL, USA). Level of significance was set to .05. RESULTS: The sway length, sway area, sway velocity of COG (center of gravity) displacement after calf muscle fatigue feeling was significantly increased compared to before calf muscle fatigue feeling during single leg standing both eye open and close conditions (p<.05). CONCLUSION: This study suggested that calf muscle fatigue feeling has affected on postural balance when standing one leg both eye open and close conditions and postural control was disturbed by muscle fatigue and visual feedback in single leg standing.

• International Journal of Highway Engineering
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• v.16 no.5
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• pp.121-131
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• 2014

PURPOSES : The goal of this study is to analyze the travel cost according to transferring from rotary to roundabout in Korea. METHODS : This study gives particular attentions to investigating the existing 48 rotaries in Korea and building the networks of before and after improvements using VISSIM, and analyzing their travel costs. RESULTS : The main results are as follows. First, from the field survey, the domestic rotaries were analyzed to need many improvements of geometric structure for the effective operation. Second, the difference of travel cost at 3-legged rotaries were evaluated to be less than other types of rotaries due to low traffic volume. Finally, the travel cost of 4-legged and multi-legged rotaries were analyzed to rapidly increase by increasing volume. CONCLUSIONS : This study analyzes the effects using both real and simulation data unlike the existing studies. Also, this study suggests the future research topics which compare and evaluate the relations between real data and simulation outputs.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.228-238
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• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• International Journal of Highway Engineering
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• v.17 no.6
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• pp.65-73
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• 2015

PURPOSES : This study tries to develop the accident models of 4-legged signalized intersections in Busan Metropolitan city with random parameter in count model to understanding the factors mainly influencing on accident frequencies. METHODS : To develop the traffic accidents modeling, this study uses RP(random parameter) negative binomial model which enables to take account of heterogeneity in data. By using RP model, each intersection's specific geometry characteristics were considered. RESULTS : By comparing the both FP(fixed parameter) and RP modeling, it was confirmed the RP model has a little higher explanation power than the FP model. Out of 17 statistically significant variables, 4 variables including traffic volumes on minor roads, pedestrian crossing on major roads, and distance of pedestrian crossing on major/minor roads are derived as having random parameters. In addition, the marginal effect and elasticity of variables are analyzed to understand the variables'impact on the likelihood of accident occurrences. CONCLUSIONS : This study shows that the uses of RP is better fitted to the accident data since each observations'specific characteristics could be considered. Thus, the methods which could consider the heterogeneity of data is recommended to analyze the relationship between accidents and affecting factors(for example, traffic safety facilities or geometrics in signalized 4-legged intersections).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1326-1331
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• 2009

The sensor data measured by the legged robot are used to recognize the physical environment or information that controls the robot's posture. Therefore, a robot's ambulation can be advanced with the use of such sensing information. For the precise control of a robot, highly accurate sensor data are required, but most sensors are expensive and are exposed to excessive load operation in the field. The seriousness of these problems will be seen if the prototype's practicality and mass productivity, which are closely related to the unit cost of production and maintenance, will be considered. In this paper, the use of a virtual sensor technology was suggested to address the aforementioned problems, and various ways of applying the theory to a walking robot obtained through training with an actual sensor, and of various hardware information, were presented. Finally, the possibility of the replacement of the ground reaction force sensor of legged robot was verified.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.63-71
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• 2018

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

• The Journal of Churna Manual Medicine for Spine and Nerves
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• v.9 no.1
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• pp.77-87
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• 2014

Objectives: The Purpose of this study is to report the effects of Korean medical treatment on patient of peroneal neuropathy caused by sitting cross-legged. Methods: The patient diagnosed as peroneal neuropathy was treated by Acupuncture, Bee Venom therapy, Herbal medicine. To evaluate the effects of Korean treatment, we used Range of Motion(ROM) of Ankle, Visual Analog Scale(VAS), Numeric Rating Scale(NRS), Ankle-Hind-foot Scale(AHS), Digital Infrared Thermal Imaging(DITI). Results: After treatment, ROM of Ankle, VAS, NRS, AHS were improved. Temperature Difference(${\Delta}T$) was decreased on DITI. Conclusions: This study suggests that Korean medical treatment might be effective on sitting cross-legged patient diagnosed as Peroneal Neuropathy.