• International Journal of Advanced Culture Technology
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• v.7 no.1
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• pp.231-236
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• 2019

Background/Objectives: This paper proposes a dual mode feedback-controlled cycling system for children with spastic cerebral palsy to rehabilitate upper extremities. Repetitive upper limb exercise in this therapy aims to both reduce and analyze the abnormal torque patterns of arm movements in three- dimensional space. Methods/Statistical analysis: We designed an exercycle robot which consists of a BLDC motor, a torque sensor, a bevel gear and bearings. Mechanical structures are customized for children of age between 7~13 years old and induces reaching and pulling task in a symmetric circulation. The shafts and external frames were designed and printed using 3D printer. While the child performs active/passive exercise, angular position, angular velocity, and relative torque of the pedal shaft are measured and displayed in real time. Findings: Experiment was designed to observe the features of a cerebral palsy child's exercise. Two children with bilateral spastic cerebral palsy participated in the experiment and conducted an active exercise at normal speed for 3 sets, 15 seconds for each. As the pedal reached 90 degrees and 270 degrees, the subject showed minimum torque, in which the child showed difficulty in the pulling task of the cycle. The passive exercise assisted the child to maintain a relatively constant torque while visually observing the movement patterns. Using two types of exercise enabled the child to overcome the abnormal torque measured in the active data by performing the passive exercise. Thus, this system has advantage not only in allowing the child to perform the difficult task, which may contribute in improving the muscle strength and endurance and reducing the spasticity but also provide customizable system according to the child's motion characteristic. Improvements/Applications: Further study is needed to observe how passive exercise influences the movement characteristics of an active motion and how customized experiment settings can optimize the effect of pediatric rehabilitation for spastic cerebral palsy.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.301-308
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• 2014

The purpose of this study was to determine whether there are significant differences in kinematic variables and muscle activities of the thumb between two smartphone holding techniques. Twelve right handed university students(age $25.4{\pm}3.9yrs$, height $176.2{\pm}5.1cm$, weight $75.8{\pm}11.4kg$, hand length $19.2{\pm}1.1cm$) who have no musculoskeletal disorder were recruited as the subjects and had experience in using a smartphone for more than one year. Maximum joint angle, angular velocity, muscular activities were determined for each trial. For each dependent variable, paired t-test was used to determine whether there were significant differences between one hand (OH) and two hands ([TH], ${\rho}$ <.05). The results of this study showed that there were no significant differences between OH and TH in the maximum joint angle of the thumb. The angular velocity of each joint was not statistically significant between OH and TH. The statistical analysis revealed that the main effect of the smartphone holding conditions was significant in the peak normalized muscular activities of FDI and APL. Although smartphone holding technique doesn't affect on mobility and movement of the thumb joint, it may affect on active degree of the thumb and the upper extremity in directly and indirectly.

• Korean Journal of Applied Biomechanics
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• v.17 no.4
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• pp.73-82
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• 2007

The purpose of this study was to qualitatively analyze coordination pattern of joints and segments during Dwichagi in Taekwondo and present a point of difference as compared with the previous study on Dolryeochagi in Taekwondo. By the utilization of three-dimensional cinematography, the angles of individual joints and segments of six male Taekwondo experts during Dwichagi were calculated by using Euler's angle. The used coordination variables were angle vs. angle plots between adjacent joints and segments and angle vs. angular velocity plots of individual joints and segments, respectively. It was observed during Dwichagi that in-phase coordination and spring-like rotational control mechanism of the lower and upper trunk were transferred into straight spring-like control mechanism of lower leg passing through flexion-extension and the fixation of degree-of-freedom of lower trunk and hip joint alternatively. This comparative study that coordination variables were used seems to be more useful research direction to deeply understand basic control mechanisms of Taekwondo kicking techniques when compared with the previous studies that defined Dwichagi as a thrust movement pattern merely based on biomechanical variables of a kicking leg.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.2
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• pp.187-192
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• 2009

A snap ring is a kind of metal spring with open ends which can be installed into a groove to prevent lateral movement. In this study a nonlinear finite element analysis model is developed to simulate the fastening process of a snap ring connecting the constant velocity joint and the transmission. Insert load, disengage load and breakage are three important issues. They are analyzed using the developed model. The load histories of simulations are similar to those of tests and the differences of maximum load are around 10%. Bending of the entire ring and unfolding of the end section are major contributors of the fastening load. The load variations caused by the angular position of spline tooth are about 50%. Breakage is highly sensitive to the position of a snap ring.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.72-75
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• 2004

In this paper, a finger-click recognition method is proposed to improve the recognition performance for finger-clicking of a wearable input device, called $SCURRY^{TM}$. The proposed method is composed of three parts including feature extraction part, valid click discrimination part, and cross-talk avoidance part. Two types of MEMS inertial sensors are embedded into the wearable input device to measure the angular velocity of a hand (hand movement) and the acceleration rates at the ends of fingers (finger-click motion). The experiment applied to the $SCURRY^{TM}$ device shows the improved stability and performance.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1029-1034
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• 2006

In this paper, the tracking control of an automatic pipe cutting robot, called APCROM, with a magnetic binder is studied. Using magnetic force APCROM, a wheeled robot, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the pipe laid in the gravitational field. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. To maintain a constant velocity and consistent cutting performance, the authors adopt a repetitive learning controller (MRLC), which learns the required effort to cancel the tracking errors. An angular-position estimation method based on the MEMS-type accelerometer is also used in conjunction with MRLC to compensate the tracking error caused by slip at the wheels. Experimental results verify the effectiveness of the proposed control scheme.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.6
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• pp.929-935
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• 1997

The total energy of fish movement and the maximum burst swimming speed were estimated and formulated in accordance with body length and water temperature for several species in fisheries by empirical methods and also by using published results. Under the assumption of swimming energy reserve of a fish at the initial rest state, the swimming endurance of fish with different body lengths, swimming speeds and angular velocity was calculated using the relevant equations under similar conditions in tank experiments as well as natural conditions in field. Relative swimming energy efficiency or the transition swimming speed between red and white muscle for energy consumption was represented as a trigonometric function of swimming speed ratio. Therefore, this model does closely approach the actual swimming abilities and their limits especially in relation to the fishing gear operation and allow for the greater vitality of the wild fish in the fields.

• Annual Conference of KIPS
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• 2017.11a
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• pp.888-890
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• 2017

VR browser is one of the most popular applications for VR(Virtual Reality) environment. However, because most of the web contents are not designed considering the VR environment, scrolling the web pages in the VR browser causes much visual discomfort. We found it's because the angular velocity of the eye movement during scrolling increased because the viewing distance got closer compared with legacy devices. So we have developed a technology that regulates the scrolling to reduce the visual discomfort in the VR browser, in reference of the visual perception characteristics of the human visual system.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.120-122
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• 2004

Wearable input device that can make free-space typewriting possible is introduced. We named this device as $SCURRY^{TM}$. To measure the angular velocity of hand and the acceleration rates at the ends of fingers, we buried MEMS inertial sensors in this keyboard. We processed sensor signals to get the information on hand movement and finger-click motion. With this signal processing, apparent finger movements were depicted over the virtual keyboard shown on output device of a target computing system. In this paper, a finger-click recognition method is proposed to improve the recognition performance for finger clicking of $SCURRY^{TM}$. The proposed method is composed of three parts including feature extraction part, valid click part, and cross-talk avoidance part. The experiments were conducted to verify the effectiveness and efficiency of the proposed algorithms.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.69-79
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• 2007

The purpose of this study was to examine the characteristics of throwing motion in the elementary school students from the developmental point of view. For the purpose of this, total of nine subjects(each of three students in five, third, and first grades) were participated. They were asked to throw the ball as far as they can and the motions were videotaped with the 30frames/sec and 1/500 shutter speed. The successful motions for each subject were selected for three dimensional analysis. The collected data were analyzed using DV express 1.0 and Kwon3D 3.0 softwares. The results obtained from this study were as follows; 1. Total time for the throwing motion of the first grade was longer than that of the fifth and third grades. 2. The resultant displacement and velocity of COM for the fifth and third grades were greater than that of the frist grade. 3. The first grade tended to flex the trunk forward excessively during the throwing motion. 4. The fifth grade tended to place the upper arm close to the sagital plane and move the forearm and hand freely. 5. Looking at the greater variability of the angular velocity of the hand segment, the fifth grade seemed to have faster and more flexible movement of the wrist. 6. There were somewhat differences in the patterns and magnitudes of ground reaction forces among the different grades.