• Journal of the Korean Society of Physical Medicine
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• v.11 no.3
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• pp.133-139
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• 2016

PURPOSE: The purpose of this study is to examine the impact of balance training on a three-dimensional balance trainer that provides the up-and-down vertical movement of the knee joint and left-and-right horizontal movement, along with visual feedback on the functional ability of children with spastic cerebral palsy (CPs). METHODS: 8 CPs participated in this study. The experiment was implemented for 40 minutes, three times a week for a total of six weeks. The subjects received general physiotherapy for 15 minutes in each session focused on balance and walking, as based on the neuro-developmental treatment theory. Balance training was performed for 20 minutes on a three-dimensional balance trainer where knee joint movement providing visual feedback is applied. The evaluations were conducted before and after the test, and posture sway was measured using 10 Meter Walking Test (10MWT), Timed Up & Go Test (TUG), and the Good Balance System to evaluate the functional ability and balance of the subjects RESULTS: 10MWT was not statistically significant (p>.05). On the contrary, TUG and postural sway indicate static balance showed a statistically significant decrease (p<.05). In a static balance test using the Good Balance System, the average moving speed statistically significantly decreased in the AP and ML directions (p<.05), and the mean velocity moment also significantly decreased (p<.05). CONCLUSION: These findings suggested that balance training using the three-dimensional balance trainer, with the features of visual feedback and up-and-down knee joint movement effects on increasing dynamic and static balance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.41
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• pp.18.1-18.10
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• 2019

Background: Temporomandibular joint (TMJ) ankylosis during early childhood may lead to disturbances in growth and facial asymmetry and to serious difficulties in eating as well as in breathing during sleep. The purpose of this study is to describe the effectiveness of an interocclusal splint (IOS) for active mouth opening exercises in the treatment of TMJ ankylosis. Methods: A total of nine patients with 13 instances of TMJ ankylosis from 2008 to 2010 were included in this study, of which five patients were male and four patients were female. Five patients demonstrated unilateral ankylosis, while five patients showed bilateral symptoms. Ankylosed mass resection with coronoidectomy, fibrotic scar release, and resection of stylohyoid ligament calcification was performed with gap arthroplasty without an interpositional graft, and all patients were assessed for maximum mouth opening (MMO) during a mean 6.6-year follow-up period. Results: All patients were subjected to postoperative mouth opening exercises from the day of the operation with the help of an IOS, which was based on an impression taken during surgery. All patients were sufficiently comfortable moving their mandible according to the IOS's guiding plane and impingement, and satisfactory results were achieved, in which MMO was improved by 35 mm more than 6 years after surgery. Conclusions: Complete and adequate resection of the ankylosed mass and postoperative active mouth opening exercises are essential in the treatment of TMJ ankylosis. Moreover, a more comfortable mouth opening guide and interdigitation can be achieved using an IOS, and newly organized fibrosis in the gap space between the newly made resected condylar head and temporal fossa can be suggested.

• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.356-367
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• 2014

A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

• Journal of the Ergonomics Society of Korea
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• v.34 no.1
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• pp.1-10
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• 2015

Objective: The purpose of this paper is to evaluate old and newly designed ammunition boxes from an ergonomic point of view. Background: The ammunition boxes made of wood, which are currently used by the military, have some difficulties such as corrosion and damage of ammunition, environmental pollution, and stock management. Also, damages to the wooden ammunition boxes take place frequently, because soldiers carry them manually. Method: Sixteen participants volunteered to randomly perform lifting, carrying, and side-by-side moving tasks with 4 different old and new boxes, respectively for the ammunitions of 5.56mm, 60mm, 81mm, and 105mm in diameter. The old boxes are made of wood and are currently used in the military, while the new boxes are made of plastics. The joint moments of the elbow, shoulder, back, and knee were measured by using a motion analysis system and force platforms. In addition, an electromyographic system was used to measure the forces of hand and wrist muscles. Results: In most tasks, new boxes caused less joint moments at the elbow and shoulder than old boxes, because the new boxes were lighter and smaller than the old boxes. New boxes also derived less hand and wrist muscle forces due to the provision of fixed hard handles rather than string handles. Conclusion: The ergonomically designed new boxes could reduce the physical stresses of soldiers manually handling ammunitions and be helpful for storage and reuse. Application: This study shows an ergonomic application example for product development and evaluation.

• The KIPS Transactions:PartC
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• v.12C no.2 s.98
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• pp.235-242
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• 2005

As the demands in a wireless network are recently increasing, it is necessary to promote the power efficiency of a wireless terminal, and to reduce the overhead of a network. To resolve such problems, we propose the paging technology and the structure of paging area with the joint access point in HPi (High-speed Portable Internet) network, which is being studied as the domestic next-generation IP packet data network. The application of the paging technology to the HPi network possesses the advantage of reducing the registration cost while a terminal in dormant state moves around, and the reporting cost of the terminal's location by the joint access point. The technology suggested in this paper causes the advantages that it promotes the power efficiency in user's point of view while it reduces the network overhead and makes the easy rearrangement of joint APs according to the changes of users' moving pattern in the network manager's point of view.

• MALSORI
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• no.43
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• pp.57-72
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• 2002

The technology of speech recognition has a wide field of application. The range of such technology is spreading into mobile computing having the large amount of movement for communication equipments at the present time. Particularly, recognition in internet environment is rapidly moving into mobile environment. Because of these environments, users want the faster speed of data transmission and the lighter portable equipment for data access. That is PDA(Personal Digital Assistant). Therefore, we designed a triphone-based text independent vocabulary recognizer for the implementation of speech control in this paper. The text independent vocabulary recognizer is based on the state .joint algorithm with decision trees

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1953-1959
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• 2011

Subway stations have a characteristic that the facilities in the ceiling should be checked, replaced and expanded frequently. The new installation of supports (steel anchors) for new facilities and workers moving-around in the ceiling result in the damage in the ceiling finish material and concrete structure which also result in construction cost increase. In addition, the noise, vibration and dust generated during the work harm the station environment. There are civil complaints on these which give difficulty to ceiling works. Accordingly, this study suggests a ceiling frame construction method that considers the convenience, economy and efficiency of ceiling work by improving the support installation method for facilities in ceiling.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1022-1028
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• 2008

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2721-2724
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• 2003

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of Joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.