• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.9
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• pp.97-103
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• 2021

In this paper, an omni wheel-based electric wheelchair is proposed that can achieve safe and convenient movement and can improve the convenience of living for mobility-impaired people who cannot move on their own. Generally, mobility-impaired people are afflicted with physical health issues such as pain and secondary body deformities because they often remain seated in wheelchairs for long periods of time. Hence, an electric wheelchair is required whose posture can be changed and whose size can be adjusted according to the user's body type. Such a wheelchair should also facilitate easy change of direction (even in a narrow space) for convenient movement. In this paper, an electric wheelchair featuring omni wheels is proposed that allows posture transformation and facilitates movement in a narrow space. It is believed that the proposed wheelchair can aid in enhancing the convenience of living for mobility-impaired people.

• Journal of Navigation and Port Research
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• v.28 no.6
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• pp.469-474
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• 2004

In this paper, we study the posture control of an underwater vehicle with nonholonomic constraint. Generally, systems with nonholnomic constraints cannot be stabilized to an equilibrium points by smooth state feedback control. For the nonholonomic underwater vehicle system, we applied coordinate transformation to get multi-chained system We proposed non smooth feedback controller using backstepping method for stabilizing the multi chained form system Applying inverse input transformation to the non smooth feedback controller, we can get posture controller of the underwater vehicle with nonholonomic constraint. The proposed control scheme is applied to the posture control qf an underwater vehicle and verified the effectiveness of control strategy by numerical simulation.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.1
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• pp.15-20
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• 2023

In general, maintaining an incorrect sitting posture for a long time is widely known to adversely affect the spine. Recently, several researchers have been interested in the causal relationship between incorrect sitting posture and spinal diseases, and have been studying methods to precisely measure changes in sitting or standing posture to prevent spinal diseases. In previous studies, we have developed a sensor device capable of measuring real-time posture change, applied a momentum calculation algorithm to improve the accuracy of real-time posture change measurement, and verified the accuracy of the postural change measurement sensor. In this study, we developed a posture measurement and analysis device that considers changes in the center of body pressure through the developed sitting pressure measurement, and it confirmed the sensor as an auxiliary tool to increase the accuracy of posture correction training with improving the user's visual feedback.

• Journal of International Academy of Physical Therapy Research
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• v.6 no.2
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• pp.871-877
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• 2015

This research was conducted to investigate the effect of continuous antagonistic muscle strengthening exercise and Evjenth-Hamberg stretching on the pulmonary function of university students with abnormal transformation of forward head posture(FHP). The results of study subject to the continuous antagonistic muscle strengthening(CAS) group(n=10) and Evjenth- Hamberg stretching(EHS) group(n=10) that was conducted 3 times a week for 6 weeks are as follow. FVC, IVC, and MVV all were shown to be significant in the pre post comparison between the CAS group and EHS group(p<.05), and significant difference was shown for MW between the two groups(p<.05) in which the CAS group showed better effect. Based on the results above, it is considered that combining continuous antagonistic muscle strengthening exercise has better effect on pulmonary function compared to application of only Evjenth-Hamberg stretching.

• Journal of International Academy of Physical Therapy Research
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• v.4 no.2
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• pp.633-639
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• 2013

This study aims to reveal the impact of continuous antagonist strengthening(CAS) and Evjenth-Hamberg stretching(EHS) on the cervical mobility in the university students with abnormal transformation of forward head posture(FHP). Our experiment was conducted 3 times a week for 6 weeks in a total of 20 individuals : continuous antagonist strengthening(CAS) group(n=10) & Evjenth-Hamberg stretching(EHS) group(n=10). In a pre and post comparison, both CAS group and EHS group appeared significantly in mSBI and SBA(p<.05) and the two-group comparison showed a significant difference(p<.05) : CAS group showed better effects. Thus, it is considered that the combined use with continuous antagonist strengthening(CAS) had better effects for cervical mobility than Evjenth-Hamberg stretching(EHS) alone.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.510-511
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• 2017

In this paper, a study was conducted to prevent spinal - related diseases and to help posture correction by feeding back the wrong attitude to the users. Kinect sensor was used for this purpose. In order to measure the movement of the user, the degree of motion change was measured by indexing the skeletal data coordinate value. It is confirmed that the implemented system can observe not only posture but also distraction of user.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.10
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• pp.1746-1754
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• 2016

In this paper, we provide a development and evaluation method for an archery posture analyzing system, using an inertial sensor. The system was developed using LabVIEW2014 by National Instruments and evaluated using the DTW algorithm. To convert the voltage value of the inertial sensor into a physical value, a coordinate transformation matrix bias was applied. To evaluate the similarity of movement in archery shooting, the DTW distance was calculated and similarity was confirmed based on simple mechanical movement, the same person's shooting movement, shooting movement with another person, and the noise signal. The average similarity comparison results were as follows: simple mechanical movement was 17.05%, the same person's shooting movement was 26.48%, shooting movement with another person was 62.8%, and the noise signal was 328.5%; a smaller value indicates a higher level of similarity. We confirmed the possibility of analyzing the archery posture using 3-axis acceleration of the inertial sensor. We inferred that the proposed method might be important means for assessing shooting skills, evaluation of archer's progress, and finding talented archers in advance.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.120-131
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• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.5
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• pp.131-135
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• 2014

The purpose of this study was to show the detection of the head movement within relatively the posture function. An analysis of the posture function was inquired a displacement that the ranges of stance direction showed generally a variation across all condition through the head movement. CNS condition (C_RL-MIN-AVG) was verified slightly greater variation at $0.226{\pm}0.04$ units. Somatosensory condition (So_$RL-_{MIN-AVG}$) was verified slightly greater variation at $0.939{\pm}0.46$ units. Vestibular condition (Ve_$RL-_{MIN-AVG}$) was verified slightly greater variation at $4.009{\pm}1.05$ units. Vision condition (Vi_$RL-_{MIN-AVG}$) was verified greater variation at $8.336{\pm}4.05$ units. When the movement head of vision characteristic function was presented a diminutive variance. On the CNS characteristic condition of the movement head function was presented a diminutive variance.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.230-233
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• 1993

This paper described a relationship between motion speed and working accuracy of industrial articulated robot arms. Working accuracy of the robot arm deteriorates at high speed operation caused by a nonlinear transformation of the kinematics and the time delay of the robot arm dynamic. The deterioration of the following trajectory was expressed as a linear function of the squares of the robot arm motion speed, depending upon a posture of the robot arm and division interval of the objective trajectory.