• 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.

• Korean Journal of Applied Biomechanics
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• v.28 no.4
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• pp.213-218
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• 2018

Objective: The purpose of this study was to examine the effect of the core muscle strength enhancement of the elderly on 8 weeks training using the core exercise equipment for the elderly on the ability to control the whole-body center of mass in posture stabilization. Method: 16 females (10 exercise group, 6 control group) participated in this study. Exercise group took part in the core strength training program for 8 weeks with total of 16 repetitions (2 repetitions per week) using a training device. External perturbation during standing as pulling force applied at the pelvic level in the anterior direction was provided to the subject. In a UCM model, the controller selects within the space of elemental variables a subspace (a manifold, UCM) corresponding to a value of a performance variable that needs to be stabilized. In the present study, we were interested in how movements of the individual segment center of mass (elemental variables) affect the whole-body center of mass (the performance variable) during balance control. Results: At the variance of task-irrelevant space, there was significant $test^*$ group interactions ($F_{1,16}=7.482$, p<.05). However, there were no significant main effect of the test ($F_{1,16}=.899$, p>.05) and group ($F_{1,16}=1.039$, p>.05). At the variance of task-relevant space, there was significant $test^*$ group interactions ($F_{1,16}=7.382$, p<.05). However, there were no significant main effect of the test ($F_{1,16}=.754$, p>.05) and group ($F_{1,16}=1.106$, p>.05). Conclusion: The results of this study showed that the 8 weeks training through the core training equipment for the elderly showed a significant decrease in the $Vcm_{TIR}$ and $Vcm_{TR}$. This result indicates that the core strength training affects the trunk stiffness control strategy to maintain balance in the standing position by minimizing total variability of individual segment CMs.

• PNF and Movement
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• v.12 no.4
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• pp.243-248
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• 2014

Purpose: The transverse abdominis and themultifidus muscle are located in the core. They surround one's trunk and help in body stabilization. Specifically, they control spine articulation to maintain posture and balance. Therefore, weakened deep muscle in the trunk may cause spinal malalignment. This study aims to compare the correlation between the thickness of the transverse abdominis and the multifidus muscle and the spine alignment among college students in their 20s. Methods: This study measured the thickness of the transverse abdominis and the multifidus muscle of 42 healthy college students in their 20s using ultrasonic waves. The thickness of the muscle was measured for the length of the cross-section except for fascia. The thickness of the left and right muscles was measured, and the mean value was calculated. As the thickness of the transverse abdominis can increase because of pressure during exhalation, it was measured at the last moment of exhalation. Spinal alignment was measured by the kyphosis angle, lordosis angle, pelvic tilt, trunk inclination, lateral deviation, trunk imbalance, and surface rotation using Formetric III, which is a three-dimensional imaging equipment. They were measured for three times, and the mean values were calculated. The general characteristics of the subjects were analyzed using descriptive statistics. The correlations between each factor were analyzed using Pearson's correlation analysis. Results: The transverse abdominis showed asignificant correlation with trunk inclination (p<.05). The multifidus muscle showed a significant positive correlation with pelvic tilt and a negative correlation with surface rotation (p<.05). Conclusion: The thickness of transverse abdominis and the multifidus muscle appears to influence spinal alignment. Specifically, the multifidus muscle, which plays an important role on the sagittal plane, influences surface rotation, thus making it an important muscle for scoliosis patients. Therefore, a strengthening training program for the transverse abdominis and the multifidus muscle is necessary according to specific purposes among adults with spinal malalignment.

• Journal of Korea Entertainment Industry Association
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• v.14 no.6
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• pp.221-230
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• 2020

The purpose of this study was to investigate the effect of resistance exercise with vibration stimulation methods on static balance and gait parameters in experienced back pain adults. This study was Three group pretest-posttest design. A total of 30 experienced back pain adults voluntarily participated in the study. Subjects were randomly assigned to the resistance exercise with 8 Hz vibration stimulation(n=10), resistance exercise with 30 Hz vibration stimulation(n=10), and lumbar stabilization exercise groups(n=10). The static balance and the gait parameters, as such stance phase, swing phase, stride length and cadence, were measured using balance measuring equipment and gait analysis treadmill at before and after 6 week. Intervention of each group were performed, three times a week for 6 weeks, and 30 minutes a day. The effect of intervention on static balance, stance phase, swing phase, stride length and cadence were significantly differences after 6 weeks in each group(p<.05). In the comparison of the effects between the groups, static balance and stance phase were significantly difference after 6 weeks(p<.05), but in the swing phase, stride length and cadence, there were no significant differences. As a result, it is considered that resistance exercise with vibration stimulation improved leg muscle strength by a mechanism causing muscle contraction, and the strengthened leg muscle enhanced had a positive effect on balance ability. And improved balance ability was considered a more positive effect on walking ability by allowing the body to stably control posture while moving.