• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.752-759
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• 2002

This paper presented a design and a control of a biped walking RGO and walking simulation by this system. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO type with 12-servo motors. The vibration evaluation of the dynamic PLS on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. The gait of a biped walking RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by a ZMP (Zero Moment Point) of the biped walking RGO. It was designed according to a human wear type and was able to accomodate itself to a human environments. The joints of each leg were adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to recover effectively with a biped walking RGO.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1067-1072
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• 2014

The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.

• Journal of Korean Critical Care Nursing
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• v.11 no.1
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• pp.79-88
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• 2018

Purpose : This study was performed to evaluate the effects of a prolonged a $30^{\circ}$ side-lying position on comfort and skin condition by applying the trunk maintenance repositioning method, which can keep the $30^{\circ}$ side-lying position effective for preventing pressure ulcers. Method : Fifty-four healthy nurses working at a general hospital in Seoul were randomly assigned to an experimental group (n=27) or a control group (n=27) and assumed a position of lying on their right or left side for two hours. The trunk maintenance repositioning method was applied to the experimental group using the pillow made by the researcher, while the original repositioning method was applied to the control group using the regular pillow from the subject hospital. Participants' posture angles, comfort, and skin condition were measured at the time of the intervention, as well as at one and two hours after the intervention. Results : There was no statistically significant difference in position angle, comfort, skin condition change, or sacrum and greater trochanter pressure change between the two groups over time. Conclusion : It is necessary to review the method and frequency of change of position in each hospital. In addition, a proper position changing pillow should be developed in consideration of patients' various body shapes.

• Journal of Korean Academy of Medicine & Therapy Science
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• v.10 no.2
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• pp.5-11
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• 2018

Objective: The purpose of the present study is to investigate whether intensive ankle training using biofeedback to increase proprioceptive senses and ankle-joint muscle strength effectively improves the balance of normal adults. Method: This study included 20 voluntary participants with normal adults. The subjects were randomly divided into 2 groups: the biofeedback intensive ankle training group (n=10) and the ankle training group (n=10). The biofeedback group used a visual biofeedback program. Subjects of the group that underwent ankle training only tried to keep their bodies balanced as well as possible on an Aero-Step. Both groups performed the exercise equally for three 30-minute sessions weekly for six weeks. The differences between the measurements before and after the experiment were analyzed using Wilcoxon signed-rank tests. Mann-Whitney U tests were used to analyze the differences in variations between the groups. Results: The biofeedback group showed significant differences in the weight distributions A, B, C, D, LEFT, and HEEL and on the weight-distribution index. In contrast, the ankle training group showed significant differences in the weight distributions A, C, and LEFT. A comparison of the differences between the two groups found significant differences between them in the weight distributions A, B, C, D, LEFT, and HEEL. Conclusion: The biofeedback group showed a greater ability to control weight distribution. A longer experimental period involving more subjects would aid in developing exercise programs that are more diverse.

• Physical Therapy Rehabilitation Science
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• v.10 no.4
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• pp.414-420
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• 2021

Objective: The purpose of this study was to investigate the effects of coordinative locomotor training(CLT) using elastic bands on dynamic balance and grip strength for Elementary school baseball players and to provide correct posture guidance and reference on the prevention and rehabilitation program of sports damage and injury in the future. Design: Two groups pre-post randomized controlled design. Methods: Forty-six subjects were randomly divided in two groups;1) CLT using Elastic Band group(Experimental group, n=23), 2) Routine baseball training group(Control group, n=23). The intervention was conducted total 16 times for sixty minutes a day, 2 times a week, for 8 weeks. Evaluations of dynamic balance ability and grip strength were performed with all subjects before the commencement of training and 8 weeks after training. Results: Compared to the control group after training, the dynamic balance ability and dominant handgrip strength of the experimental group were significantly more improved(p<0.05). Conclusions: We confirmed that the effects of CLT using elastic bands on dynamic balance ability and grip strength in Elementary school baseball player. This study should be used for improving the quality of the Elementary school baseball player's training and would be contributed prevention and rehabilitation program of sports damage and injury.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• The Journal of Korean Physical Therapy
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• v.34 no.6
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• pp.321-325
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• 2022

Purpose: Temporomandibular disorder (TMD) is a condition defined as pain and dysfunction of temporomandibular joints and masticatory muscles. Abnormal interconnections between temporomandibular muscles and cervical spine structures can cause the changes of postural alignment and balance ability. The aim of this study was to investigate changes in static balance ability in subjects with painrelated TMD. Methods: This study conducted on 25 subjects with TMD and 25 control subjects with no TMD. Pressure pain thresholds (PPTs) of the masseter and temporalis muscles were measured using a pressure algometer. Static balance ability was assessed during one leg standing using an Inertial Measurement Unit (IMU) sensor. During balance task, the IMU sensors measured motion and transfer movement data for center of mass (COM) motion, ankle sway and hip sway. Results: PPTs of masseter and temporalis muscles were significantly lower in the TMD group than in the control group (p<0.05). One leg standing, hip sway, and COM sway results were significantly greater in the TMD group (p<0.05), but ankle sways were not different between group. Conclusion: We suggest pain-related TMD is positively related to reduced PPTs of masticatory muscles and to static balance ability. These results should be considered together with global body posture when evaluating or treating pain-related TMD.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.45-61
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• 2005

Stance is defined as any state in which the total mass of the body is supported by the feet. In order to maintain stance, the sum of gravito-inertial forces acting on the body must be registered by equal and opposite forces at the region of contact between the organism and the support surface. Balance is controlled by applying forces to the surface of support so as to maintain the body's center of mass vertically above the feet. for a muIti-segment organism, there can be a variety of ways in which balance can be controlled, since movements of different body segments can have similar effects on the control of balance. In general, the organism tends to have a body configuration that is aligned with gravito-inertial force when there are no external forces acting on it. If any segments of the body are not aligned with gravito-inertial force vector, a torque on that segment would tend to move the body's center of mass. The maintenance of postural stability is accomplished in humans by a complex neural control system. This requires organizing integrating and acting upon visual, vestibular, and somatosensory input, providing orientation information to the postural control system. The information necessary to control and coordinate movement is provided by the visual sense of eye position with respect to the surrounding surface layout, the vestibular sense of head orientation in the gravito-inertial space, and the somatic sense of body segment position relative to one another and to the support surface. In this study, perception and action capability was examined from various points of view. The underlying assumption of the study was that the change of postural configuration could be effected by organism, environment and task goal.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.381-389
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• 2011

Purpose : The purpose of this study was to compare the respiratory function in the different body position of the stroke patients. Methods : Twenty patients with stroke patients group(M:12, F:8) and twenty control group(M:12, F:8) were participated in experiment. Strokes patients group and control group were assessed according to position changes(supine position, $45^{\circ}$ sitting position, $90^{\circ}$ sitting position) using pulmonary function(vital capacity, inspiratory capacity, tidal volume, expiratory reserve volume, inspiratory reserve volume). Results : These findings suggest that supine position in stroke group and control group were significant difference in IC, VC, IRV, ERV(p<.05). $45^{\circ}$ lean sitting position in stroke group and control group were significant difference in IC, VC, ERV(p<.05). 90 sitting position in stroke group and control group were significant difference in VC, IRV, ERV(p<.05). In comparison of two groups, strokes group was more low pulmonary function than normal group. Conclusion : This study showed pulmonary function was more high normal groups than stroke groups. And $90^{\circ}$ sitting position was high pulmonary function than supine position, $45^{\circ}$ lean sitting position. Thus it indicates that the functions will be suggest the objective data of patients with strokes for respiratory function.