• Journal of the Institute of Convergence Signal Processing
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• v.14 no.2
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• pp.124-129
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• 2013

Hexapod walking robots are superior to biped or quadruped ones in terms of walking stability. Therefore hexapod robots have the advantage in performing intelligent tasks based on walking stability. In this paper, we propose a hexapod robot that has one fore leg, one hind leg, two left legs, and two right legs and can perform various intelligent tasks. We build the robot by using 26 motors and implement a controller which consists of a host PC, a DSP main controller, an AVR auxiliary controller, and smart phone/pad. We show by several experiments that the implemented robot can perform various intelligent tasks such as uneven surface walking, tracking and kicking a ball, remote control and 3D monitoring by using data obtained from stereo camera, infrared sensors, ultra sound sensors, and contact sensors.

• Physical Therapy Korea
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• v.19 no.3
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• pp.1-10
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• 2012

The aim of this study is to compare measurements of abdominal muscle thickness using ultrasonography imaging (USI) to those using a special transducer head device, during five different trunk stabilization exercises, ultimately to determine which exercise led to the greatest muscle thickness. Thirty eight healthy subjects participated in this cross-sectional study. The five types of trunk stabilization - i.e., a sit-up on the supine, an upper and lower extremity raise with quadruped on the prone, a leg raise in sitting on the ball, trunk rolling on the ball, and balance using sling on the prone position - were each performed with an abdominal draw. The thickness of the abdominal muscle - including the transverse abdominal (TrA), internal oblique (IO), and external oblique (EO) - was measured by USI with a special transducer head device, at rest and then at contraction in each position. Data were analyzed using one-way repeated ANOVA with the level of significance set at ${\alpha}$=.05. The results were as follows: 1) the TrA thickness was statistically significant (p<.05), whereas the IO and EO thicknesses were not (p>.05); 2) among the five types of trunk stabilization, TrA thickness significantly increased with the balance using a sling in the prone position, (p<.05), whereas no significant difference was noted for the four types of trunk stabilization (p>.05); 3) reliability data showed that there was a high degree of consistency among the measurements taken using the special transducer head device (ICC=.92). In conclusion, the balance using a sling in the prone position was more effective than any of the four other types of trunk stabilization in increasing TrA thickness in healthy subjects.

• Journal of IKEEE
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• v.15 no.3
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• pp.227-234
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• 2011

The Interest in robotics has been steadily increasing in recent times both in Korea as well as abroad. Research on robots for new and diverse fields is ongoing. This study discusses the current research and development on robot actuator, which are used to control the joints of robots, and focuses on developing more efficient technology for joint control, as compared with the current technologies. It also aims to find means to apply the abovementioned technology to diverse industrial fields. We found that easy and effective control of actuators could be achieved by using ZigBee sensor networks, which were widely being used on wireless communications. Throughout the experiments it is proved that the developed wireless actuator could be used for easy control of various robot joints. This technology can be effectively applied to develop two-legged robots that will be able to walk like human, or even quadruped and hexapod robots. It can also be applied to motors used in industry. In this study, we develop an extremely minimized ZigBee sensor network module that can be used to control various servo motors with low power consumption even if it is long distances. We realized effective wireless control by optimizing the ZigBee antenna, and were able to quickly check the status of relevant Tree node through mutual communication between the servo motors composing the ZigBee sensor network and the main server control modules. The developed Servo Motor with ZigBee sensor network modules can be applied in both robotics as well as for home or factory automation.

• PNF and Movement
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• v.15 no.3
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• pp.237-246
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• 2017

Purpose: The purpose of this study was to investigate the effects of forward-and-backward shift trunk exercise using a proprioceptive neuromuscular facilitation (PNF) diagonal pattern in a closed kinematic chain exercise on the upper limb function and activity of daily living (ADL) in a stroke patient. Methods: One subject participated in this study. The study used a reversal A-B-A' design, where A and A' were the baseline period (no intervention), and B was the intervention period. The intervention was a forward-and-backward trunk shift exercise, using a PNF diagonal pattern on both a stand-on-hand position and a quadruped position of closed kinematic chain exercises, for 20 min per day for 2 weeks. The range of motion (ROM) of the shoulder joint was measured and a Fugl-Meyer assessment of upper extremity (FMA-UE) and a functional independence measure (FIM) were performed to measure upper limb function and activity of daily living (ADL). Results: ROMs of shoulder joint (flexion, extension, abduction, and external rotation) increased in the intervention phase. The FMA-UE score increased (from 28 to 36) in the intervention phase. The FIM score increased (from 20 to 25) in the intervention phase. These increases were maintained after intervention (Baseline II). Conclusion: These results suggest that forward-and-backward shift trunk exercises using a PNF diagonal pattern in a closed kinematic chain exercise have a positive effect on stroke patients' upper limb function and ADL ability.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.304-309
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• 2014

In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.179-185
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• 2014

In this paper, a quadruped walking pet robot for human-robot interaction, a robot-controller using a smart phone application program, and a home smart control system using sensor informations providing from the robot are described. The robot has 20 degree of freedom and consists of various sensors such as Kinect sensor, infrared sensor, 3 axis motion sensor, temperature/humidity sensor, gas sensor and graphic LCD module. We propose algorithms for the robot entertainment: walking algorithm of the robot, motion and voice recognition algorithm using Kinect sensor. emotional expression algorithm, smart phone application algorithm for a remote control of the robot, and home smart control algorithm for controlling home appliances. The experiments of this paper show that the proposed algorithms applied to the pet robot, smart phone, and computer are well operated.

• Physical Therapy Korea
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• v.24 no.1
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• pp.86-96
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• 2017

Background: Scapular dyskinesis is characterized by altered scapular position and motion. Specifically, excess activation of the Upper trapezius (UT) combined with decreased Lower trapezius (LT) and Serratus anterior (SA) have been observed. The Standard push-up plus exercise (SPP) is considered as a therapeutic exercise for increasing SA activity and maintaining the scapular kinematics. In addition, Using the Sling surface can lead to higher muscle activity. However, the advantage of an unstable surface has been uncertatin. Objects: To compare the activation of the UT, LT, and lower serratus anterior (LSA) muscles during various push-up plus exercises with and without sling in subjects with scapular dyskinesis. Methods: Total 18 male subjects with scapular dyskinesis were recruited. The UT, LT, and LSA electromyographic activities and the UT/LSA and UT/LT EMG activity ratios were measured during three push-up plus exercises with and without sling. Two-way repeated of analysis of variance was used to determine the statistical significance. Results: The UT activity was significantly lower in all postures without sling than that with sling. In addition, the LSA activity was significantly greater without than with sling, and significantly large in SPP, Low back supported push-up plus (LSPP), and Quadruped push-up plus. Additionally, the UT/LSA and UT/LT activity ratios were lower in SPP and LSPP without sling than with the other four push-up plus exercises. Conclusion: The push-up plus without sling were considered to decrease UT and increase LSA activity compared with exercises with sling. Furthermore, SPP without sling seems to be a more effective exercise for increasing LSA activity and lowering the UT/LSA and UT/LT activity ratios in scapular dyskinesis subjects.

• Physical Therapy Korea
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• v.18 no.1
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• pp.1-8
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• 2011

Push-up plus has been advocated for increasing the activity of the serratus anterior muscle, the most critical scapular stabilizer. However, no previous study has reported the possibility of compensatory motion on the part of the pectoralis major, which could substitute for the action of the serratus anterior during push-up plus. The aim of the current study was to investigate the immediate effect of electromyography (EMG) biofeedback of the pectoralis major muscle on the pectoralis major, upper trapezius, and serratus anterior muscles during push-up plus. Fourteen healthy young subjects voluntarily participated in this study; each subject performed push-up plus from the quadruped position, in two conditions (i.e., with or without visual and auditory biofeedback). Surface EMG was used to measure pectoralis major, serratus anterior, and upper trapezius activity. A paired t-test was used to determine any statistically significant difference between the two conditions. Additionally, effect size was calculated to quantify the magnitude of EMG biofeedback in each muscle. Visual and auditory feedback reduced pectoralis major muscle activity significantly (p=.000) and increased the serratus anterior muscle activity significantly (p=.002), but did not induce a significant difference in upper trapezius muscle activity (p=.881). Thus, it is concluded that the visual and auditory feedback of pectoralis major muscle activity can be used to facilitate serratus anterior muscle activity during push-up plus.

• Physical Therapy Korea
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• v.19 no.2
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• pp.20-28
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• 2012

The lumbar multifidus muscle, which can be separated into deep fascicles (DM) and superficial fascicles (SM), is important for lumbar segmental stability. However, no previous studies have investigated the effect of lumbar stabilization exercises on the thickness of DM and SM. Thus, the purpose of this study was to assess DM thickness after three different lumbar segmental stabilization exercises. In total, 30 healthy male participants were recruited and randomly assigned to one of three exercise groups: hollowing in the quadruped position (H-Quad), contralateral arm and leg lift (CALL), and bilateral arm and leg lift (BALL). Each lumbar segmental stabilization exercise was conducted over 4 weeks. Ultrasonography was used to compare the DM and SM thickness before and after the 4 weeks of exercise. A mixed-model analysis of variance using Scheffe's post-hoc test was used for statistical analysis. The results showed a significant effect for the measurement time (before vs. after 4 weeks of exercise) in the DM (F=31.26, p<.05) and SM (F=4.56, p<.05). At the end of the 4 weeks, the DM thickness had increased significantly in the H-Quad exercise group, and the SM thickness had increased significantly in the CALL and BALL exercise groups. Also in the BALL exercise group, the SM thickness was greater compared with that in the H-Quad exercise group. These findings suggest that the thickness of the DM and SM were increased by different types of lumbar segmental stability exercise after 4 weeks.

• PNF and Movement
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• v.6 no.1
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• pp.1-12
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• 2008

Purpose : The purpose of this study was to investigate the effects of the combined patterns of PNF(proprioceptive neuromuscular facilitation) on the static balance ability. Methods : The measurements of the static balance ability were completed by 10 subjects for 6 weeks, from October to November 2007. The combined patterns of PNF were carried out by means of self-exercising suggested by Dietz, which were designed as four cases: two positions (standing and quadruped) for both patterns(sprinter and skater), respectively. The exercises were practiced once a day, 3 times a week in same condition. By using the GOOD BALANCE system, assessment of the static balance ability was taken at before and after exercise from 6 positions: normal standing, one leg left and one leg right standing when eye open and close, respectively. For each case, the experimental data was obtained in 3 items: mean X speed, mean Y speed and velocity moment. Results : The results of this study were as follows : 1. There were statistically significant differences of Mean X speed, Mean Y speed and Velocity moment between the before and the after exercise in the case of normal standing when eye open and close(NSEO and NSEC), respectively. 2. There was statistically significant difference of Mean X speed between the before and the after exercise in the case of one leg left standing when eye open(OLLEO). In this case, however, the statistically significant differences were not found in both terms of Mean Y speed and Velocity moment. 3. There were statistically significant differences of Mean X speed and Mean Y speed between the before and the after exercise in the case of one leg left standing when eye close(OLLEC). In this case, however, the statistically significant difference was not found in term of Velocity moment. 4. There were statistically significant differences of Mean X speed, Mean Y speed and Velocity moment between the before and the after exercise in the case of one leg right standing when eye close(OLREC). 5. There was statistically significant difference of Mean X speed between the before and the after exercise in the case of one leg right standing when eye open(OLREO). In this case, however, the statistically significant differences were not found in both terms of Mean Y speed and Velocity moment. 6. There were statistically significant differences of total Mean X speed, total Mean Y speed and total Velocity moment between the before and the after exercise. Conclusions : The above results from this study indicated that the combined patterns of PNF have improved the static balance ability. However the used self-exercise can be applied to normal people, i.e., the exercise is difficult to apply into clinical patients. The further study should be focused at development of various modified forms of the combined patterns of PNF in keeping up the improvement effect of this exercise.