• 대한정형도수물리치료학회지
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• 제19권1호
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• pp.33-39
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• 2013

Background: The purpose of this study was to find out the effect of trunk stabilization training on the self posture control efficacy, physical self-description and perception stress in high school students. Methods: 92 voluntary students (73 females, 19 males) participated in this study. They received trunk stabilization training for 40 minutes per day and a time per week during 6 weeks period. Trunk stabilization training was an approach of education in proper posture and coordination of movement. In the evaluation, the self posture control efficacy scale (SPCES) was used to measure the posture control efficacy, the physical self-description questionnaire (PSDQ) was used to measure the physical self description and the perception stress scale (PSS) was used to measure the stress. All measurement of each subject were measured before and after stabilization training. Results: The SPCES were significantly different before and after (p<.05). The PSDQ and PSS were no significantly different before and after (p>.05) but the means were increased slightly. Conclusion: Conclusionally these results suggest that the trunk stabilization training increased the self posture control efficacy and would give help to control Students themselves.

• 로봇학회논문지
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• 제18권3호
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• 전기학회논문지
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• 제60권8호
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• pp.1577-1585
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• 2011

This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.947-948
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• 2006

This paper proposes a robust posture stabilization control method for wheeled mobile robots. To solve the robust posture stabilization, we introduce reference generation mode, reference tracking mode, and reference regulation mode. In reference generation mode, a kinematic time-invariant controller is used to generate the reference trajectory which starts from the initial posture of the actual robot to the desired posture. In reference tracking mode, a sliding mode position controller is employed in such a way that the actual robot can follow the reference trajectory in the desired forward or backward moving direction, even in the presence of the disturbances in the dynamics. In reference regulation mode, a sliding mode heading direction controller is used such that the actual robot can maintain the desired posture against the disturbances. In this way, robust posture stabilization can be achieved at almost all global regions.

• 대한물리의학회지
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• 제17권1호
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• pp.63-74
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• 2022

PURPOSE: This study aimed to compare the effects of manual therapy with stabilization exercises to manual therapy alone, on neck pain and body functions in patients with chronic mechanical neck pain. METHODS: Twenty patients with chronic mechanical neck pain were recruited and randomly allocated into two groups. A control group(n = 10) was given the manual therapy alone and an experimental group(n = 10) was given the manual therapy with stabilization exercises. The intervention was carried out 3 days per week for 4 weeks. The cervical resting pain, the most painful motion pain, craniocervical flexor endurance, forward head posture and neck disability index were used to assess participants at baseline and after 4 weeks. RESULTS: A comparison of the parameters before and after the intervention showed that both groups experienced significant improvements in the resting pain, the most painful motion pain, craniocervical flexor endurance, and forward head posture except for the forward head posture in the control group. A comparison of the parameters between the groups did not show a significant difference. CONCLUSION: The results of this study suggest that the combined intervention of manual therapy with stabilization exercise does not seem to be more effective than manual therapy alone for improving neck pain, craniocervical flexor endurance, forward head posture, and the neck disability index in patients with chronic mechanical neck pain.

• The Journal of Korean Physical Therapy
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• 제33권3호
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• pp.148-154
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• 2021

Purpose: This study covered the effect of shoulder stabilization exercise on muscle activity, postural alignment and self-efficacy of the elderly people with round shoulders by visiting village hall in rural area. Methods: 40 elderly people with round shoulders were recruited for this study (experimental group: 20 subjects and control group: 20 subjects). The experimental group was asked to perform shoulder stabilization exercise 60 minutes per one time for 8 weeks and three times in a week and the control group was asked to receive education related to pain management for the initial one time. Before and after the experiment, we measured the subjects' muscle activity of upper trapezius, serratus anterior, infraspinatus, pectoralis major and the lower trapezius, then postural alignment of craniovertebral angle and round shoulder posture. In addition, self-efficacy is measured through the questionnaire. Results: Compared to the control group, the experimental group showed significant differences in the muscle activity of all muscles, posture alignment of the craniovertebral angle. round shoulder posture, and improvement of self-efficacy. Conclusion: We found that shoulder stabilization exercise is effective in muscle activity, postural alignment and self-efficacy of the elderly people through visit-rehabilitation service. This study can be used for improving the physical and mental abilities through active visit-rehabilitation service for areas where have poor medical benefits. It is considered that systematic visit rehabilitation service should have institutional framework ultimately.

• Physical Therapy Rehabilitation Science
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• 제11권1호
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• pp.97-104
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• 2022

Objective: Flexed posture commonly increases with age in older adults and is characterized by kyphosis and forward head posture. Changes in the posture with age affect both balance and mobility. This study was conducted to examine the effects of a cervical stabilization exercise for community-dwelling older adults to improve balance. Design: Two groups pretest-posttest design. Methods: Fifty older adults were randomly assigned into the cervical stabilization exercise group (n=24) and control group (n=25). The cervical stabilization exercise group (n=24) participated in group exercise for 60 minutes twice a week over 4 weeks. Timed up and go test (TUG), four square step test (FSST), functional reach test (FRT), postural sway, cervical range of motion (CROM), proprioception, craniovertebral angle (CVA) were evaluated before and after the intervention. Results: TUG, FSST, FRT, CROM, Proprioception, CVA showed significantly greater improvement, compared with a control group (p<0.05). Conclusions: Findings of this study demonstrate that cervical stabilization exercise can help improve not only neck functional capacities but also balance. Therefore, it may be used as an effective balance exercise program for community-dwelling older adults.

• 대한정형도수물리치료학회지
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• 제23권1호
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• pp.43-51
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• 2017

Background: This study was carried out to compare the effects of shoulder stabilization exercise and thoracic extension exercise including deep neck flexor exercise on posture and pain targeting physical therapists and occupational therapists with forward head posture. Methods: A total of 30 physical therapists and occupational therapists (15 males, 15 females), who are working in the nursing hospital at Daejeon, were randomly divided into a shoulder stabilization group (n=10), a thoracic extension exercise (n=10), and a control group (n=10), and 3 times were carried out for 8 weeks. Results: In the results of all measurements, 2 groups except for the control group showed a significant change in the recovery of forward head posture, and the should stabilization exercise group showed a relatively superior effect compared to the thoracic extension exercise group. Conclusions: These results of a study will be a basic data for the development of the forward head posture exercise therapy program.

• 한국정밀공학회지
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• 제33권3호
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• pp.183-190
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• 2016

In this study, we conduct linear and nonlinear modeling of the DC motor driving system of a wheeled mobile robot, which is a nonlinear system involving dead zone, friction, and saturation. The DC motor driving system consists of a DC motor, a wheel, and gears. A linear DC motor driving system is modeled using a steady-state response and parameter measurements. A nonlinear DC motor driving model is identified with the use of the Hammerstein-Wiener method. By using these models, PID controllers for the DC motor system are then established. Each PID controller is applied as a low-level controller in order to achieve posture stabilization control for the real mobile robot. We also compare the performance of the proposed PID controllers in posture stabilization experiments by using several different final robot postures.

• 대한통합의학회지
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• 제10권3호
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• pp.13-25
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• 2022

Purpose : The purpose of this study was to investigate the effects of combined cervical stabilization exercise (CSE) and stretching exercise (SE) on office workers with forward head posture (FHP). Methods : A total of 32 office workers with forward head posture were randomly assigned to experimental (n=16) and control (n=16) groups. The experimental group underwent combined CSE and SE, and the control group underwent cervical self-myofascial release and SE. Both groups performed exercises for 40 min per day, thrice per week for a total of 6 weeks. Craniovertebral angle (CVA), respiration, disability, and joint range of motion (ROM) before and 6 weeks after intervention were measured and compared. Results : There was no significant between-group difference in the general characteristics (p>.05). The intra-group comparison showed significant differences in the visual analog scale (VAS) and neck disability index (NDI) of both groups post-intervention (p<.05). CVA and forced expiratory volume in 1 seconds (FEV₁) were significantly improved post-intervention in the experimental group only (p<.05). In the experimental group, all ROM variables were significantly improved post-intervention. In contrast, in the control group, all ROM variables improved significantly post-intervention, except for extension (p<.05). The inter-group comparison showed significant differences in NDI, left lateral flexion, right lateral flexion, and left rotation between the two groups (p<.05). Conclusion : The combination of CSE and SE, which stabilizes the cervical spine, had positive effects on cranial rotation angle, respiration, disability, and joint ROM in office workers with forward head posture. Therefore, the combination of the two exercises may be an effective option to reduce symptoms and prevent postural problems in office workers with FHP.