• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.131-140
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• 2015

Purpose : The purpose of this study was to analyze the coordination of the trunk tilting angle and bilateral lower limbs according to the stirrups length during trot in equestrian. Methods : Participants selected as subject were consisted of adult male(n=7, mean age: $45.00{\pm}3.78yrs$, mean height: $172.50{\pm}2.44cm$, mean body mass: $76.95{\pm}4.40kg$, mean, mean leg length: $97.30{\pm}2.60cm$). They were divided into 3-types of stirrups lengths(67 cm, 72 cm, 77 cm) during trot. The variables analyzed were consisted of the trunk front-rear angle, lower limb joint(Right Left hip, knee, ankle), overall movement index(OMI) of the lower limbs(thigh, shank, foot) and asymmetry index(AI%) during trot. Results : The average angle in hip and knee joint showed more extended posture according to the increase of stirrups lengths and ankle angle showed more plantarflexion posture according to increase of stirrups length during 1 stride in trot. Also, average angle showed more extended posture in right hip and ankle joint than that of left. The angle of knee joint didn't show significant difference statistically between right and left. Also asymmetric index in average angle of hip, knee and ankle joint didn't show significant difference statistically in between lower limbs, but hip joint showed higher asymmetric index in stirrup length of 77 cm and ankle joint showed higher asymmetric index in stirrup length of 67 cm than that of the others respectively. The FR angle in trunk of horse-rider showed relative backward leaning motions at stirrup length of 67 cm and 77 cm than that of stirrup length of 72 cm during stance and swing phase. OMI in thigh, shank, and foot limbs didn't show significant difference statistically according to the stirrups length of right and left lower limbs, but left lower limbs showed higher index than that of right lower limb. Stirrup length of 72 cm in shank and foot limbs showed higher index than that of stirrup length of 67 cm and 77 cm. But stirrup length of 72 cm showed higher asymmetric index than that of stirrups length of 67 cm and 77 cm. Conclusions : When considering the above, 72 cm(ratio of lower limb 74.04%) stirrup lengths could be useful in posture correction and stabilization than 67cm(ratio of lower limb 68.69%) and 77 cm(ratio of lower limb 79.18%) stirrup lengths during trot in horse back riding.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.8
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• pp.703-710
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• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.24 no.2
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• pp.29-36
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• 2018

Background: The purpose of this study was to investigate the effect of leg lift difference on serratus and upper trapezius when exercising in a scapula in a prone position, a typical waist stabilization exercise for subjects with a winged scapula. Method: Twenty normal adults and 20 subjects with winged scapula participated in the experiment. The surface EMG recordings were obtained from external oblique muscle and internal oblique muscle during scapula protraction exercise. The presence or absence of winging of the shoulder bone was measured using an electronic digital caliper for the distance the medial border of the scapula is lifted to the rear. In prostrate pier movement posture in both groups, both legs supporting, dominant leg lifting, and non-dominant leg lifting including the scapula protraction were conducted respectively. Results: In the results of comparison between the two groups, the dominant external oblique muscle and the non-dominant internal oblique muscle tended to increase according to the difference of the leg lifting of normal people. In the winged scapula group, internal oblique muscle showed increased muscle activity more than external oblique muscle. Conclusion: It was most effective to exercise with lifting the same position leg for strengthening the same external oblique muscle, and the opposite internal oblique muscle. Also, it is effective to exercise in prone pier movement posture for trunk stability. In addition, internal oblique muscle shows increased muscle activity in subjects with winged scapula. Therefore, appropriate adjustment of external oblique muscle and internal oblique muscle may have a positive effect on scapula dysfunction for trunk stability.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.28 no.2
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• pp.7-14
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• 2022

Purposed: This study was conducted to find out by ultrasonic waves the thickness change of the deep abdominal muscles, such as transverse abdominal, internal oblique and external oblique when performing general bridge exercise on the stable surface (GBE), single-legged bridge exercise on the stable surface (BES), bridge exercise with a sling (SBE) and single-legged bridge exercise with a sling (SBS). Methods: The subject, 33 healthy adults(18 men and 15 women) in their 20s of V university in J city were subjected to take four postures of GBE, BES, SBE, and SBS. When performing each posture, the thickness of transverse abdominal, internal oblique and external oblique were measured by ultrasonic waves and analyzed by repeated measures of ANOVA. This significance level was set to be p<.05. Results: Muscle thickness was increased in the order of BES, SBE, and GBE in the external oblique, resulting in statistically significant differences(p<.001). The internal oblique was significantly thicker in SBE and SBS rather than in GBE, and was thicker in SBE and SBS rather than in BES (p<.01). The thickness of the transverse abdominal was significantly increased in SBS than in GBE (p<.01). Conclusion: As the result, it may be more effective for the trunk stabilization exercises to activate the internal oblique and transverse abdominal by applying both-legged or single-legged bridge exercise in slings.

• Physical Therapy Korea
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• v.29 no.2
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• pp.156-164
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• 2022

Background: Low back pain (LBP) is a representative disease, and LBP is characterized by muscle dysfunction that provides stability to the lumbar spine. This causes physical functional problems such as decreased posture control ability by reducing the muscular endurance and balance of the lumbar spine. Pelvic compression using instruments, which has been used during recent stabilization exercises, focuses on the anterior superior iliac spine of the pelvis and puts pressure on the sacroiliac joint during exercise, making the pelvis more symmetrical and stable. Currently, research has been actively conducted on the use of pelvic compression belts and non-elastic pelvic belts; however, few studies have conducted research on the application effect of pelvic compression using instruments. Objects: This study aimed to investigate whether there is a difference in trunk muscular endurance and dynamic and static balance ability levels by applying pelvic stabilization through a pelvic compression device between the LBP group and the non-LBP group. Methods: Thirty-nine subjects currently enrolled in Daejeon University were divided into 20 subjects with LBP group and 19 subjects without LBP (NLBP group), and the groups were compared with and without pelvic compression. The trunk muscular endurance test was performed with 4 movements, the dynamic balance test was performed using a Y-balance test, and the static balance test was performed using a Wii balance board. Results: There was a significant difference the LBP group and the NLBP group after pelvic compression was applied to all tests (p < 0.05). In the static and dynamic balance ability test after pelvic compression was applied, there was a significant difference in the LBP group than in the NLBP group (p < 0.05). Conclusion: These results show that pelvic compression using instruments has a positive effect on both those with and without LBP and that it has a greater impact on balance ability when applied to those with LBP.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.191-202
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• 2004

The batting performance in baseball is a repetitive movement. In order to make the stabilization of posture and the efficient shift of body weight, both the range of stance and stride are important. The previous studies explained that the consistent stride which included the amount of time, stance, and direction were needed. However, the batting performance is frequently changed according to the several speed of ball. Therefore, this study was to analyze the reaction time, the range of stance, the change of stride, and the change of GRF during the batting movement in three kinds of ball speed (120km/h, 130km/h, & 140km/h). Seven elite players are participated in this study. 1. The reaction time of the stride phase was short whereas the time of the swing phase was long according to the increasing ball speed. 2. The range of the stance was wide and the mediolateral direction of the stride was decreased according to the increasing ball speed. 3. In the three kinds of ball speed, the change of body weight was transferred to the center, the rear foot, and the front foot directions. The ball speed of 130km/h showed the high frequency of the suitable batting. At this ball speed, the movement of the body weight was shifted smoothly and the value of the Ground Reaction Force was large enough.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.5
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• pp.959-966
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• 2020

With the growing importance of the fishery industry and the rapid growth of the aquaculture industry, research on smart farms through ICT convergence in the aquaculture field is in progress. To enable monitoring of the growing environment at the farm site, an underwater drone drive unit, an image collection device, an integrated controller for posture stabilization, and a remote control device capable of controlling and controlling drones through real-time underwater images were proposed, and design, development, and tests were conducted. By utilizing underwater drones, it is possible to replace the supply and demand of manpower and high-cost work in the aquaculture industry, and to manage fish farms in a stable manner by reducing the probability of farming deaths.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• The Journal of Korean Physical Therapy
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• v.28 no.6
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• pp.393-397
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• 2016

Purpose: This study was conducted in an effort to determine the effects of various abdominal drawing-in maneuver (ADIM) on the thickness and length of the transversus abdominis (TrA) when using lumbar stabilization exercises on healthy adults. Methods: 72 healthy adults were divided into four groups of 18 subjects each, to which different ADIM methods were applied. 1) a simple ADIM exercise, 2) an ADIM with pressure bio-feedback units, 3) an ADIM exercise with sling, and 4) an ADIM exercise with sling and vibration. Changes in the thickness and sliding length of TrA were measured when ADIM was conducted in the supine position prior to exercise and again when beginning the exercises. Following exercise, changes in the thickness and sliding length of TrA were measured using the same methods. Differences in group measurements prior to and following exercise were compared using a one-way analysis of variance. A paired t-test was applied to compare the before and after differences within each group. Results: Differences in TrA thickness change revealed that the ADIM exercise with sling and vibration group showed a significant difference in measurements taken prior to and following exercise. Differences in TrA length change revealed that the ADIM exercise with sling and vibration group showed a significant difference in measurements taken prior to and following exercise. Conclusion: ADIM exercise with vibration stimulation conducted in the bridge posture while in a prone position using a sling can be recommended as an effective exercise to improve the function of lumbar TrA.