• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2101-2112
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• 1994

A two-dimensional biomechanical model was developed in order to calculated the lower extremity kinematics and kinetics during level walking. This model consists of three segments : the thigh, calf, and foot. Each segment was assumed to be a rigid body ; its motion to be planar in the sagittal plane. Five young males were involved in the gait experiment and their anthropometric data were measured for the calculation of segmental masses and moments of inertial. Six markers were used to obtain the kinematic data of the right lower extremity for at least three trials of walking at 1.0m/s, and simultaneously a Kistler force plate was used to obtain the foot-floor reaction data. Based on the experimental data acquired for the stance phase of the right foot, calculated vertical joint forces reached up to 0.91, 1.05, and 1.11 BW(body weight) at the hip, the knee, the ankle joints, respectively. The flexion-extension moments reached up to 69.7, 52.3, and 98.8 Nm in magnitude at the corresponding three joints. It was found that the calculated joint loadings of a subject were statistically the same for all his three trials, but not the same for all five subjects involved in the gait study.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.758-765
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• 2001

This paper proposes a method to automatically extract stable visual landmarks from sensory data. Given a 2D occupancy map, a mobile robot first extracts vertical line features which are distinct and on vertical planar surfaces, because they are expected to be observed reliably from various viewpoints. Since the feature information such as position and length includes uncertainty due to errors of vision and motion, the robot then reduces the uncertainty by matching the planar surface containing the features to the map. As a result, the robot obtains modeled stable visual landmarks from extracted features. This extraction process is performed on-line to adapt to an actual changes of lighting and scene depending on the robot’s view. Experimental results in various real scenes show the validity of the proposed method.

• Journal of Ocean Engineering and Technology
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• v.25 no.6
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• pp.86-90
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• 2011

The mining of imitated manganese noodles in 1000 m of seawater is planned for 2012. Thus, it is necessary to prepare the lifting pipes to be used for the test. Because of storage and expense constraints, flexible and economic HDPE pipe is being considered, making it necessary to test the structural safety. Material, pressure-chamber tests and finite element analysis of HDPE pipe for the 1000-m depth were performed. The tangential stiffness of HDPE was obtained through tension and three-point bending material tests and used for a structural analysis. FEA results show that the current sample pipe segment is safe for 1000 m of water pressure, and the stress result is also within the safe value. From the current results, the HDPE pipe seems to be acceptable only for the currently suggested constraints. However, more numerical and pressure tests need to be considered by applying additional physical conditions such as gravitational and hydrodynamic loads, external and internal fluid pressure, axial force induced ship motion, and heavy pump pressure to determine future usage.

• Journal of Korean Neurosurgical Society
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• v.29 no.2
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• pp.280-285
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• 2000

Posterior transarticular screw fixation for atlantoaxial instability due to trauma or rheumatoid arthritis provides immediate rigid fixation of the C1-2 vertebral segment while preserving motion between the occiput and C1. This technique provides more resistance to translational and rotational forces than wiring technique. However, the technique of transarticular screw fixation is inherently demanding because of the complex anatomy of the occipitocervical region and vertebral artery(VA) at risk for arterial damage. VA injury may lead to serious subsequent neurological deficits and possibly death from bilateral VA injury. We report a case of a vertebral artery-to-epidural venous plexus fistula after posterior transarticular screw fixation which was treated with balloon occlusion.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.150-159
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• 2012

In this paper, we propose a cost-aware Rapidly-exploring Random Tree (RRT) path planning algorithm for mobile robots. A mobile robot is presented with a cost map of the field of interest and assigned to move from one location to another. As a robot moves, the robot is penalized by the cost at its current location according to the cost map. The overall cost of the robot is determined by the trajectory of the robot. The goal of the proposed cost-aware RRT algorithm is to find a trajectory with the minimal cost. The cost map of the field can represent environmental parameters, such as temperature, humidity, chemical concentration, wireless signal strength, and stealthiness. For example, if the cost map represents packet drop rates at different locations, the minimum cost path between two locations is the path with the best possible communication, which is desirable when a robot operates under the environment with weak wireless signals. The proposed cost-aware RRT algorithm extends the basic RRT algorithm by considering the cost map when extending a motion segment. We show that the proposed algorithm gives an outstanding performance compared to the basic RRT method. We also demonstrate that the use of rejection sampling can give better results through extensive simulation.

• Journal of Korean Neurosurgical Society
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• v.49 no.5
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• pp.308-313
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• 2011

Posterior cervical foraminotomy is an attractive therapeutic option in selected cases of cervical radiculopathy that maintains cervical range of motion and minimize adjacent-segment degeneration. The focus of this procedure is to preserve as much of the facet as possible with decompression. Posterior cervical inclinatory foraminotomy (PCIF) is a new technique developed to offer excellent results by inclinatory decompression with minimal facet resection. The highlight of our PCIF technique is the use of inclinatory drilling out for preserving more of facet joint. The operative indications are radiculopathy from cervical foraminal stenosis (single or multilevel) with persistent or recurrent root symptoms. The PCIFs were performed between April 2007 and December 2009 on 26 male and 8 female patients with a total of 55 spinal levels. Complete and partial improvement in radiculopathic pain were seen in 26 patients (76%), and 8 patients (24%), respectively, with preserving more of facet joint. We believe that PCIF allows for preserving more of the facet joint and capsule when decompressing cervical foraminal stenosis due to spondylosis. We suggest that our PCIF technique can be an effective alternative surgical approach in the management of cervical spondylotic radiculopathy.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.85-94
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• 2006

The purpose of this study was to analyze the kinematics variables of during forehand stroke by stance patterns. Eight high school tennis players were chosen for the study, who have never been injured for last six months, in Busan. They performed horizontal swing and vertical swing that it was done each five consecutive trial in the condition of square, open and semi-open stance. It was filmed by 6 video camera and used with 3-dimensional motion analyzer system. The following kinematic variables were analyzed in relation to angle of segment( shoulder, hip and knee joint). The conclusion were as follow: 1. The angle of hip joint represented at impact that horizontal swing was not significant difference by stance patterns but vertical swing was increased in open stance than square and semi-open stance. 2. The angle of both knee was not significant difference between all stance types and swing patterns. 3. The angle of shoulder, hip and knee joint rotation showed that open stance was increased than square and semi-open stance in all swing types and event.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.735-739
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• 2005

This paper presents a new system to estimate the head pose of human in interactive indoor environment that has dynamic illumination change and large working space. The main idea of this system is to suggest a new morphological feature for estimating head angle from stereo disparity map. When a disparity map is obtained from stereo camera, the matching confidence value can be derived by measurements of correlation of the stereo images. Applying a threshold to the confidence value, we also obtain the specific morphology of the disparity map. Therefore, we can obtain the morphological shape of disparity map. Through the analysis of this morphological property, the head pose can be estimated. It is simple and fast algorithm in comparison with other algorithm which apply facial template, 2D, 3D models and optical flow method. Our system can automatically segment and estimate head pose in a wide range of head motion without manual initialization like other optical flow system. As the result of experiments, we obtained the reliable head orientation data under the real-time performance.

• The Journal of Korean Physical Therapy
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• v.15 no.4
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• pp.412-430
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• 2003

Functional stability is dependent on integrated local and global muscle function. Movement dysfunction can present as a local and global problem, though both frequently occur together. To good understand how movement induces pain syndrome, the optimal actions and interaction of the multiple anatomic and functional systems involved in motion must be considered. Minor alterations in the precision of movement cause microtrauma and, if allowed to continue, will cause macrotrauma and pain. These alteration of the movement result in the development of compensatory movement and movement impairment. Muscle that become tight tend to pull the body segment to which they are attached, creating postural deviation. The antagonistic muscles may become weak and allow postural deviations due to lack of balanced support. Both hypertonic and inhibited muscles will cause an alteration of the distribution of pressure over the joint(s) that they cross and, thus, may not only result from muscle dysfunction, but produce joint dysfunction as well. Alteration of the shoulder posture and movement dysfunction may sometimes result in compression of neurovascular structures in the shoulder and arm. There is a clear link between reduced proprioceptive input, altered motor unit recruitment and the neurovascular compression. This report start with understanding of the impaired alignment, movement patterns and neuromuscular compression of the shoulder girdle by movement impairment to approach method of the movement dysfunction.