• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.16-21
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• 2007

Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.1
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• pp.214-221
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• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• Korean Journal of Clinical Pharmacy
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• v.28 no.2
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• pp.131-137
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• 2018

Background: In South Korea, 22.3% of women ${\geq}50years$ of age and 37% of women ${\geq}70years$ of age visit the doctor to obtain treatment for osteoporosis. According to the analysis of the National Health Insurance Services claim data between 2008 and 2012, the number and incidence of hip and vertebral fractures increased during the same period. Denosumab, a newly marketed medicine in Korea, is the first RANK inhibitor. Methods: A cost-utility analysis was conducted from a societal perspective to prove the superiority of denosumab to alendronate. A Markov cohort model was used to investigate the cost-effectiveness of denosumab. A 6-month cycle length was used in the model, and all patients were individually followed up through the model, from their age at treatment initiation to their time of death or until 100 years of age. The model consisted of eight health states: well; hip fracture; vertebral fracture; wrist fracture; other osteoporotic fracture; post-hip fracture; post-vertebral fracture; and dead. All patients began in the well-health state. In this model, 5% discounted rate, two-year maximum offset time, and persistence were adopted. Results: The total lifetime costs for alendronate and denosumab were USD 5,587 and USD 6,534, respectively. The incremental cost-effectiveness ratio (ICER) for denosumab versus alendronate was USD 20,600/QALY. Given the ICER threshold in Korea, the results indicated that denosumab was remarkably superior to alendronate. Conclusion: Denosumab is a cost-effective alternative to the oral anti-osteoporotic treatment, alendronate, in South Korea.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.2
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• pp.161-170
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• 2014

PURPOSE: This study concerns the wheelchair-based rehabilitation of elderly people, investigating muscle activity and coordination of upper limbs during wheelchair-based new millennium health gymnastics with varying elbow exercise velocity. METHODS: Twelve elderly people participated in new millennium gymnastics twice per week during 12-weeks. The group was separated into 0.4, 1.0, and 1.6 Hz groups (controlled by the metronome speed). Range of motion was measured by electrogoniometer, electromyography signals used root mean square values. The data application was normalized using reference voluntary contraction (%RVC). Upper limb (wrist and elbow joint) data gathered while standing up after the "falling on hips" was investigated in terms of coordination of angle-angle plots. One-way ANOVA, paired t-test and Scheffe's post hoc comparisons, were used for statistical analyses. RESULTS: There were results taken before and after the experiments. The results demonstrated a significant improvement in the triceps brachii and flexor carpi radialis of the 0.4 Hz group (p<.05). There was significant difference in the triceps brachi of the 1 Hz group. No significant differences were found in all muscles of the 1.6 Hz group. Muscle co-activation indexes of the 0.4 Hz group were larger than the others. The 0.4 Hz graph was turning point synchronized clockwise. The 1 Hz graph was out of phase with the negative slope. The 1.6 Hz graph was turning point synchronized counterclockwise, and uncontrolled factor phase was offset on angle-angle plots. CONCLUSION: It is found that improvement of muscle activity and upper limbs coordination of elderly people using wheelchair-based new millennium gymnastics is optimal with elbow exercise velocity with a frequency of 0.4 Hz.