• 한국응용과학기술학회지
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• 제38권5호
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• pp.1345-1353
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• 2021

이 연구의 목적은 6주간의 엉덩관절 강화 훈련이 근력, 동적 자세 조절 및 하체 손상 준거에 미치는 영향을 보고자 하였다. 운동선수 20명을 운동군과 통제군으로 분류하여, 운동군은 주 3회, 60분, 6주간 엉덩관절 강화훈련을 하였다. 이 연구의 측정 변인은 유연성, 근력, 동적 자세 조절 및 하체 부상 준거로 하였다. 연구 결과 유연성에서 운동의 효과가 유의하지 않았으나 배근력에서는 유의하였다. 동적 자세조절 결과, 좌·우 후방 가쪽 및 안쪽에서 운동의 효과가 유의하였다. 또한 종합점수에서도 운동의 효과가 유의하였고, 좌·우 다리 간의 차이는 없었다. 결론적으로 엉덩관절 강화 운동은 근력과 동적 자세 조절 능력의 증가와 하체 손상의 우려는 감소시키는 것으로 나타났다.

• 한국전문물리치료학회지
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• 제21권3호
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• pp.11-19
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• 2014

The purpose of this study was to investigate the activity of the transverse abdominal muscle resulting from changed posture by measuring the thickness of the transverse abdominal muscle in a supine posture, a slouched sitting posture, and an erect sitting posture. The subjects of the study were 28 patients with cerebral palsy. All their transverse abdominal muscles at the end of inhalation were measured at supine, slouched sitting (S sitting) and erect sitting (E sitting) postures by using ultrasonography, and then their dynamic sitting balance was measured at S sitting and E sitting postures by using BioRescue. For the statistical analysis, the Kruskal-Wallis test and the Wilcoxon signed-rank test were used to compare the differences among each the postures. The results were as follows. The thickness of the transverse abdominal muscle when comparing the supine posture and the S sitting posture showed no statistically significant difference. But the E sitting posture showed a statistically significant difference as compared with the others. In addition, the dynamic sitting balance in comparing the S sitting and E sitting postures showed a significant difference. In conclusion, the E sitting posture has a more positive effect on postural control and balance than generally taking the S sitting posture, for the sitting posture of a patient with cerebral palsy. It is suggested that patients with cerebral palsy mainly experiencing a sedentary life or being in a wheelchair should be seated in the E sitting posture during their daily life, and it may be necessary to continue to monitor and manage the proper E sitting posture.

• International journal of advanced smart convergence
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• 제7권1호
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• pp.33-41
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• 2018

This study was designed to provide basic data for developing exercise program that helps correcting posture by knowing the effect of strengthening and elongation exercises of upper extremity muscle to forward head posture correction. In this study determined subjects whether they had forward head posture or not. On the basis of the New York state posture rating, if a subject's posture is match up with the normal standard posture, gives 5 points and if the posture is slightly get out of the normal standard posture, gives 3 points and if the posture is apparently get out of the standard, gives 1 points. When determining the forward head posture, if talus, humerus and outer ear center are on the same line, it is determined as normal and if outer ear center is off the line less than 1.0cm, it is a slight deformation and if outer ear center is off the line more than 1.0cm, it is a high deformation. In the study selected people who have more than 1 cm gap between two vertical lines start from outer ear center and acromion separately as subjects. Length between the ideal alignment line measured by using goniometer and temporal region showed statistically significant decrease as $2.36{\pm}1.07cm$ before the intervention and $1.06{\pm}0.88cm$ after the intervention. After 4 weeks of neck and chest extensor muscle exercise, the group who exercised both showed increase in range of neck joint motion and neck flexion of the forward head posture. Meanwhile the group who only exercised neck extensor muscle only and the group who only exercised chest extensor muscle didn't showed statistically significant result. That only the group who exercised both muscles showed significant result is the different with studies before. Because this study didn't target patient who had a lesion, couldn't compare effect of the conservative manner and exercise. However, this study provides the fact that the group who exercised both neck and chest muscle had more effect than the control group.

• 대한인간공학회지
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• 제6권2호
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• 대한정형도수물리치료학회지
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• 제24권1호
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• pp.15-21
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• 2018

Background: The purpose of this study was to determine the effects of cervical deep muscle flexion exercise (CCFE) on craniovertebral angle, pain, and neck disability for patients with chronic neck pain Methods: The subjects of this study were randomly divided into three groups of 30 patients with chronic neck pain: rectus abodominis functional massage (n=10), cervical deep muscle flexion exercises group (n=10), and the control group(n=10). To assess visual analog scale (VAS) was used to test the neck pain, To assess neck posture was used to craniovertebral angle, VAS was used to test the neck pain, neck disability index (NDI) was used to test the neck dysfunction. All measurements were performed before and after each intervention was applied 3 times a week for 4 weeks. Results: In the results of all measurements, 2 groups except for the control group showed a significant change in the recovery of posture, neck pain, neck disability index (p<.05). Conclusions: Our results of this study showed that applying cervical deep muscle flexion exercise and rectus abodominis functional massage to patients with chronic neck pain improved cervical posture, neck pain, neck disability.

• 재활복지
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• 제18권4호
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• pp.221-235
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• 2014

최근 급속한 인구 고령화로 인해 뇌졸중의 발생빈도가 증대되고 있으며, 후천적 장애의 주요 발생요인이 되고 있다. 본 연구는 뇌졸중의 후유증으로 인한 장애를 극복하기 위한 재활 과정에서 사용되는 보조장비인 체위제어용 자세변환기에 관한 것이다. 본 논문에서는 국내와 일본의 자세변환기 용품을 조사하여 기능과 용도에 따라 분류와 비교를 수행하였고, 와상체위를 제어하기 위해 스마트 고기능 자세변환 시스템의 설계방식을 제안하였다. 이는 욕창방지 튜브와 체위 경사동작 튜브를 통합한 매트리스 동작을 갖도록 고안된 것이다. 또한 스마트 기능을 추가하여 현재 기기 상태의 모니터링과 기본자세변경, 교대부양 및 체위제어의 무선 기능의 수행이 가능하도록 설계하였다. 시스템제어 하드웨어는 3개의 주요부, 즉 센서 검출부, 모터구동 제어부, 블루투스(Bluetooth) 통신을 위한 시스템제어부로 구성되어 있다. 결과로서, 본 연구에 의해 설계된 시스템이 최근 인터넷 정보화 기술의 적용분야인 IoT(Internet of Things) 기술이 접목된 고기능 스마트 자세변환장치로 실용화 될 수 있음을 확인하였다.

• 한국정보전자통신기술학회논문지
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• 제14권6호
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• pp.461-466
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• 2021

드론의 제어는 가까운 거리의 경우 블루투스 통신과 같은 방법으로 제어가 가능하고, 원거리는 네트워크 통신을 통해서 제어가 가능하다. 특히 활동범위가 원거리인 경우는 GPS를 이용하여 좌표를 설정하고 네트워크 통신과 영상통신을 이용하여 드론을 제어하게 된다. 그러나 네트워크 통신이나 영상통신에 문제가 발생하여 드론이 제어권한 영역 밖으로 이탈했을 경우, 이를 적절하게 대응하여 제어권한을 강제로 받아서 드론을 조종하여야 한다. 따라서 본 연구에서는 이를 위하여 상호 약속된 단순 동작으로 드론을 제어하는 방법을 제안하고, 드론이 제어권한 밖으로 이탈 했을 경우에도 제안한 방법으로 드론을 제어할 수 있도록 하고자 한다. 이를 구현하기 위하여 제안한 상호 약속된 단순 동작 알고리즘은 기준자세를 설정하고, 드론이 이를 인식했을 경우 자동으로 드론의 제어권한을 기준자세를 취하는 사람에게도 넘어가게 하였다. 그리고 모든 명령의 시작은 기준자세(드론의 호버링 자세)로부터 출발하여 드론의 모든 동작을 제어할 수 있도록 하였다. 마지막으로 드론의 제어권한은 목적 달성 이후 반드시 돌려주고, 드론 스스로 다음 동작을 할 수 있도록 알고리즘을 구현하였고, 맵핑된 명령에 의해 드론이 정상적으로 동작함을 확인할 수 있었다.

• 대한통합의학회지
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• 제3권3호
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• pp.1-8
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• 2015

Purpose : The purpose of this study was to find out the effect of shoulder exercise program for improving forward head posture. Method : Subjects were divided into two groups. The experimental group(15 people) participated in strength exercise and stretching exercise, three times every week, during 4 weeks. And the control group(the other 15 people) didn't participate in exercises. Exercise program was composed of strength exercise of middle and lower trapezius and stretching exercise of levator scapulae and upper trapezius. And then we measured cervical alignment with GPS and muscular activity by EMG. Result : The results of this study were as follows; 1. After the intervention, experimental group was significantly decreased in cervical alignment than control group(p<.05). 2. After the intervention, experimental group was significantly increased in middle lower trapezius musclar activity than control group(p<.05). Conclusion : Strength exercise of middle and lower trapezius and stretching exercise of levator scapulae and upper trapezius were considered a efficient for improving forward head posture.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1029-1037
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• 2008

When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque far all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.

• 한국정밀공학회지
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• 제20권7호
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• pp.147-154
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• 2003

An effective die-polishing robot system is developed. ATC (Automatic Tool Change), tool posture angle control, and robot program for polishing application are developed and integrated into a robotic system that consists of a robot, pneumatic grinding tool, and grinding abrasives (papers and special films). ATC is specifically designed to exchange whole grinding tool set for complete unmanned operation. A tool posture angle control system is developed for the tools to maintain a specified skew angle rather than right angle on the surface for best finishing results. A PC and the robot controller control ATC and tool posture angle. Also, there have been more considerations on enhancing the performance of the system. Elastic material is inserted between the grinding pad and the holder for better grinding contact. Robot path data are generated automatically from the NC data of previous machining process.