• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.585-592
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• 1999

A new paradigm of technology, based on the overall interactions of technology, human and environment, is explored. History of technology and machines is reviewed in terms of the interactions of human and machines. Two main concepts of intelligent interactions proposed, holism and embodiment, are based on the interactions of machines and human through human body : Korperlichkeit ( corporeality). Human body movements are the result of long periods of evolution and, thus, are very optimized motions. Complicated and flexible motions could be easily achieved by mimicking human body movements. Motion capture and mimic systems based on the electromagnetic, visual, and gyroscopic type trackers, are being implemented to demonstrate these concepts. Also, various motion mappings are investigated on these interactive systems. By exploring a new paradigm of technology through Korperlichkeit, an oriental view of technology as relativities may evolve to embrace the limitations of western view of machines as an absolute independent form.

• Journal of Biomedical Engineering Research
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• v.36 no.5
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• pp.228-234
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• 2015

The balance ability significantly decreased in the elderly because of deterioration of the neural musculature regulatory mechanisms. Several studies have investigated methods of improving balance ability using real-time systems, but it is limited by the expensive test equipment and specialized resources. Recently, Kinect system based on depth data has been applied to address these limitations. Little information about accuracy/inaccuracy of Kinect system is, however, available, particular in motion analysis for evaluation of effectiveness in rehabilitation training. Therefore, the aim of the current study was to evaluate accuracy/inaccuracy of Kinect system in specific rotational movement for balance rehabilitation training. Six healthy male adults with no musculoskeletal disorder were selected to participate in the experiment. Movements of the participants were induced by controlling the base plane of the balance training equipment in directions of AP (anterior-posterior), ML (medial-lateral), right and left diagonal direction. The dynamic motions of the subjects were measured using two Kinect depth sensor systems and a three-dimensional motion capture system with eight infrared cameras for comparative evaluation. The results of the error rate for hip and knee joint alteration of Kinect system comparison with infrared camera based motion capture system occurred smaller values in the ML direction (Hip joint: 10.9~57.3%, Knee joint: 26.0~74.8%). Therefore, the accuracy of Kinect system for measuring balance rehabilitation traning could improve by using adapted algorithm which is based on hip joint movement in medial-lateral direction.

• Journal of Drive and Control
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• v.12 no.3
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• pp.25-35
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• 2015

The hydraulic power-take-off mechanism (HPTO) is one of the most popular methods in wave energy converters (WECs). However, the conventional HPTO with only one direction motion has a number of drawbacks that limit its power capture capability. This paper proposes an adjustable moving angle wave energy converter (AMAWEC) and investigates the effect of the moving angle on the performance of the wave energy converter to find the optimal moving angle in order to increase the power capture capability as well as energy efficiency. A mathematical model of components from a floating buoy to a hydraulic motor was modeled. A small scale WEC test rig was fabricated to verify the power capture capability and efficiency of the proposed system through experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.507-510
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• 2002

We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.7
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• pp.506-511
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• 2009

Insect flight is adapted to cope with each circumstance by controlling a variety of the parameters of wing motion in nature. Many researchers have struggled to solve the fundamental concept of insect flight, but it has not been solved yet clearly. In this study, to find the most effective flapping wing dynamics, we conducted to analyze CFD data on fixing some of the optimal parameters of wing motion such as stoke amplitude, flip duration and wing rotation type and then controlled the deviation angle by fabricating wing tip motion. Although all patterns have the similar value of lift coefficient and drag coefficient, pattern A(pear-shape type) indicates the highest lift coefficient and pattern H(pear-shape type) has the lowest lift coefficient among four wing tip motions and three deviation angles. This result suggest that the lift and drag coefficient depends on the angle of attack and the deviation angle combined, and it could be explained by delayed stall and wake capture effect.

• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.5
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• pp.494-499
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• 2011

This paper presents the biomechanical analysis and evaluation technology of musculoskeletal system by multi-body human dynamic model and 3-D motion capture data. First, medical image based geometric model and material properties of tissue were used to develop the human dynamic model and 3-D motion capture data based motion analysis techniques were develop to quantify the in-vivo joint kinematics, joint moment, joint force, and muscle force. Walking and push-up motion was investigated using the developed model. The present model and technologies would be useful to apply the biomechanical analysis and evaluation of human activities.

• Korean Journal of Applied Biomechanics
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• v.17 no.4
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• pp.37-44
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• 2007

This study compared the Character Studio of 3ds Max and OpenGL to find an adequate modeling method of character animation to be used in motion analysis in the area of motor mechanics. The subject was one male golfer. We obtained the positional coordinates of marks needed by photographing the subject's golf swing motions. Because the method based on the Character Studio used meticulously designed character meshes, it enabled high.level animation but it took a long time in applying physique and demanded the repeated adjustment of each motion data. With the method based on OpenGL, a character completed once could be usable to almost every testee and desired program control was available, but because each character had to be created by making a computer program, it was hard to make characters delicately. Because the method using the Character Studio is actively studied not only in motor mechanics but also in many research areas, it is expected to be more usable in the near future. On the contrary, the method based on OpenGL is easily applicable and allows the convenient use of other mechanical data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.6
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• pp.585-592
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• 2014

In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.

• Journal of Korean Institute of Industrial Engineers
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• v.37 no.1
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• pp.10-18
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• 2011

Ergonomic product design considering users' natural use motion is of importance to improve the usability and satisfaction of a product. A five-step process of product design was developed in the present study by measuring and analyzing users' natural product-use motion with a motion capture system. The developed process was applied to ergonomic design improvement of a half guard installation part of refrigerator; new guard designs (diagonal and arc shape) were developed with the process and evaluated in terms of validity during the development as two measures (task satisfaction and similarity of natural motion). According to the evaluation result, the satisfaction at putting in- and out-task of new guard designs ($6.3{\pm}0.5$ points) was significantly higher than that of existing guard designs ($3.3{\pm}1.0$ points); the difference between natural motion and product-use motion in new guard designs ($1.0{\pm}0.3cm$) was significantly less than that of existing guard designs ($2.0{\pm}0.2cm$). The proposed process of natural motion analysis and product design is applicable to ergonomic product design and evaluation.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.47-54
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• 2013

In this paper, we present an inertial sensor-based motion capturing system to measure and analyze whole body movements. This system implements a wireless AHRS(attitude heading reference system) we developed using a combination of rate gyroscope, accelerometer and magnetometer sensor signals. Several AHRS modules mounted on segments of the patient's body provide the quaternions representing the patient segments's orientation in space. We performed 3D motion capture using the quaternion data calculated. And a method is also proposed for calculating three-dimensional inter-segment joint angle which is an important bio-mechanical measure for a variety of applications related to rehabilitation. To evaluate the performance of our AHRS module, the Vicon motion capture system, which offers millimeter resolution of 3D spatial displacements and orientations, is used as a reference. The evaluation resulted in a RMSE of 2.56 degree. The results suggest that our system will provide an in-depth insight into the effectiveness, appropriate level of care, and feedback of the rehabilitation process by performing real-time limbs or gait analysis during the post-stroke recovery process.