• 대한통합의학회지
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• 제1권2호
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• pp.81-92
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• 2013

Purpose : This research was carried out to find how neck exercise program combined with self stretching and muscle strengthening program influences on smart phone addicts with forward head posture. Methods : The subjects of this study were 20 smart phone-addicts with forward head posture and we divided them into 2 groups. The experimental group(10 people) participated in neck exercise program as a intervention for 3 months and the control group(the other 10 people) didn't participate in neck exercise program. Neck exercise program were composed of self stretching and muscle strengthening program. Then we measured cervical alignment with GPS(Global Posture System) and evaluated balance ability with Balance Master ver 7.0 systems. Results : The result were as follows. 1. After the intervention, experimental group were significantly more closed to normal cervical alignment than control group. 2. After the intervention, experimental group increased in dynamic balance ability a little more than control group. Conclusion : Neck exercise program seems to get cervical alignment better and improve balance ability.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.3-8
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• 2002

An intelligent polishing robot automation system is developed. Automatic Tool Change System(A.T.C.), Tool Posture Angle Control, and Robot Program for Polishing Application are developed and integrated into a robotic system that consists of a robot, pneumatic finding tool, and finding abrasives (papers and special films). A.T.C. is specifically designed to exchange whole grinding tool set for complete unmanned operation. Tool Posture Angle Control is developed to give a certain skew angle rather than right angle to tools on the surface for best finishing results. A.T.C. and Tool Posture Angle Control is controlled by a PC and the robot controller. Also, there have been some considerations on enhancing the performance of the system. Some elastic material is inserted between the grinding pad and the holder for better grinding contact. The robot path data is generated automatically from the NC data of previous machining process.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.155.4-155
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• 2001

This paper deals with the inertia property-based redundancy resolution in posture control of a mobile manipulator. As a measure for the redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation ...

• 한국전문물리치료학회지
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• 제19권2호
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• pp.39-47
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• 2012

The purpose of this study is to examine the influence of a horse riding simulator and galvanic vestibular stimulation on improving the ability to balance posture and proprioception. Thirty healthy adults participated and were randomly assigned to a horse riding simulator group ($n_1$=10), galvanic vestibular stimulation (GVS) group ($n_2$=10), control group ($n_3$=10). Experiment groups were trained 3 times per week over 6 weeks. The ability to balance posture was measured by force plate and proprioception was measured by Joint position sense. The following results were obtained. the changes of balance index were significant interaction in each group in accordance with the experiment time in 0, 3 and 6 weeks (p<.05). All groups showed the most decreasing pattern compared with the control group. But was not statistically significant. Proprioception was significant interaction in each group in accordance with the experiment time (p<.05). All groups showed the most decreasing pattern compared with the control group. The above results indicated that the 6 weeks horse riding simulator and galvanic vestibular stimulation training demonstrated positive effects in the ability to balance posture and proprioception. These results suggest that the horse riding simulator and galvanic vestibular stimulation training could be therapeutic intervention that can improve balance and postural control.

• 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.

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제7권6호
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• pp.549-558
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• 2001

동작 포착 시스템에 의해 기록된 동작 데이타를 재사용하는 것은 비용 절감이나 작업과정의 효율성 증대를 위해 매우 중요한 기술이다. 그러나 기록된 데이타의 동작 곡선이 제어점을 가지고 있지 않기 때문에 상호작용을 통한 동작 데이타의 편집이 쉽지 않아서 데이타의 재사용에 어려움이 있다. 기존 동작 데이타를 재사용하는 기술로서 많은 학자들은 조각 동작(Clip motion)들을 부드럽게 연결하여 새로운 동작을 만들어 내는 동작 전이 기술을 제안하고 있다. 본 논문에서는 이러한 동작 전이 기술의 구현 방법으로 균등 자세 지도(Uniform Posture Map: UPM)알고리즘을 제안한다. 학습 단계에서 UPM은 다관절체의 다양한 자세들을 비감독 경쟁 학습을 통해 양자화한다. 이 단계에서 서로 유사한 자세를 나타내는 출력 뉴런을 기하학적으로 근접한 위치에 배치해서 다관절체의 전체 동작 지도를 생성한다. 생성된 UPM의 이러한 특징을 이용해서 적용된 두 동작의 중간 자세를 만들어 내고, 이 자세를 전체 중간 동작을 만들어 내는 키 프레임으로 사용한다. 많은 계산량이 요구되며, 결과 동작을 제어하기가 어려운 다른 동작 전이 알고리즘들과 비교하여 UPM 알고리즘은 중간 동작 생성에 상대적으로 적은 계산량을 요구하며, 하나의 변수를 이용하여 생성된 동작을 제어할 수 있어서 편리한 상호작용 작업 환경을 제공한다. 특히 자기 조직 지도(Self-Organizing Mpa: SOM) 알고리즘을 이용해 자세 지도를 생성할 때, 실제로 존재하지 않은 자세가 포함될 수 있는 가능성을 학습 단계에서 제거함으로써 자세 생성에 있어서 안정성을 확보할 수 있다. 이로 인해 선형 보간법에 비해서 실제 동작에 가까운 동작 곡선을 생성함으로써 보다 자연스러운 동작을 만들어 낼 수 있다. 본 논문에서 제안된 동작 전이 기법은 삼차원 애니메이션 제작, 삼차원 게임, 가상 현실 등의 다양한 분야에 유용하게 적용될 수 있다.

• 한국운동역학회지
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• 제24권1호
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• pp.75-83
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• 2014

The purpose of this study was to investigate the degree of improvement of posture and foot balance between the exercise group and the control group after upright body type exercise program of 12 weeks with 14 female students in B female high school. According to the procedure of this study, following conclusion came out. First, The change of head's posture became near a centerline and a significant decrease from $7.57{\pm}13.95mm$ to $2.71{\pm}5.23mm$ in experimental group and there was a statistically significant difference (p<.002). The change of left foot balance was near the perfect balance (50%) from $48.93{\pm}3.87%$ to $49.74{\pm}2.95%$ and right foot balance was from $51.07{\pm}3.87%$ to $50.26{\pm}2.95%$ in experimental group and there were near the perfect balance (50%). The change of left foot balance of control group fall away the perfect balance (50%) from $49.97{\pm}2.67%$ to $49.08{\pm}1.41%$, right foot balance also fall away the perfect balance (50%) from $50.03{\pm}2.67%$ to $50.92{\pm}1.41%$. As a conclusion, upright body type exercise program considered to effect posture and foot balance in female high school girls. Consequently It was suggested that upright body type exercise program with improvement and prevention for posture's unbalance of female high school girls. This program could be utilized for improvement of youth posture and foot balance.

• 대한정형도수물리치료학회지
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• 제20권2호
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• pp.15-20
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• 2014

Objective: The purpose of this study was to investigate the effects of sling exercise on the cervical lordotic angle, craniovertebral angle, and head rotation angle among adolescents in the forward head posture. Methods: The subjects include 22 adolescents that recorded a mild level or higher on the posture evaluation index by New York State. They were randomly divided to the hand exercise group (n=11) and the control group (n=11). The former group participated in the sling exercise program three times a week over four weeks in total with each session lasting 60 minutes, whereas the latter group was not included in the program. The cervical lordotic angle, craniovertebral angle, and head rotation angle were measured before and after the intervention. Results: The study compared the cervical lordotic angle between the two groups before and after sling exercise and found that the sling exercise group made an increase of $7.36^{\circ}$ from $21.91^{\circ}$ to $29.27^{\circ}$ after the intervention(p<.05). As for the comparison results of the craniovertebral angle, the sling exercise group made an increase of $5.64^{\circ}$ from $48.91^{\circ}$ to $54.55^{\circ}$ after the intervention (p<.05). As for the comparison results of the cranial-rotation angle, the sling exercise group made an decrease of $-7.73^{\circ}$ from $148.82^{\circ}$ to $141.09^{\circ}$ after the intervention (p<.05). The control group showed no differences before and after the intervention (p>.05). Conclusion: Those findings indicate that the application of sling exercise in the forward head posture can be a good program to maintain the right posture and improve or prevent an abnormal posture and raise a need for more clinical applications and ongoing researches.

• 대한통합의학회지
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• 제11권3호
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• pp.91-98
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• 2023

Purpose : The purpose of this study was to investigate the effect of the posture holding band on muscle activity of the rectus femoris, medial vastus, and vastus lateralis muscles and weight distribution during squat exercise. Methods : This study was conducted with 30 healthy adult men and women in their 20s, and all subjects were randomly assigned to the experimental group and the control group. Squat exercise was performed for 6 weeks. The experimental group received squat exercise while wearing a posture holding band, and the control group applied without wearing a posture holding band. Muscle activity of the quadriceps femoris (rectus femoris, vastus medialis, and vastus lateralis) and weight distribution (knee flexion 0 °, 30 °, 60 °, and 90 °) was measured. Results : According to the results of this study, all three muscles showed a main effect on time and group, and a significant interaction was shown only in the vastus lateralis. In addition, the value of the weight distribution difference according to the knee flexion angle did not show a main effect according to time and group at 30 ° of knee flexion, but showed an interaction. Conclusion : It was confirmed that the application of the posture holding band during squat exercise increased the muscle activity of the quadriceps muscle, and showed greater changes in the vastus lateralis muscle. In addition, it was confirmed that the difference in weight distribution was reduced in the knee flexion, and in particular, a greater change was shown in reducing the difference in weight distribution in the knee flexion of 30 °. Therefore, it is considered that the effect of the exercise can be further enhanced if the unnecessary movement of the trunk is controlled by using equipment such as a posture holding band during squat exercise.