• The Journal of Korean Physical Therapy
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• 제32권1호
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• pp.58-63
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• 2020

Purpose: This study examined the effects of the right or left knee lift during push up plus in the quadruped position on the serratus anterior (SA) muscle activity. Methods: Twenty-one subjects (male 11, female 10) performed the quadruped position on push up plus. The muscle activities of the lower trapezius (LT), SA, and upper trapezius (UT) were measured by surface electromyography. Repeated measurements of one-way ANOVA were performed for statistical analysis of the data, and the criterion for statistical significance was set to p<0.05 and comparative analysis of the UT and SA ratio using a Paired t-test. Results: The right SA increased the muscle activity of the right knee lift during quadruped position push up plus (p<0.05). In particular, the right SA muscle activity was higher than the left. In addition, comparative analysis of the UT and SA ratio to the right knee lift during quadruped position push up plus was performed (p<0.05). The right was found to be a significant statistic compared to the left, but the left SA increased the muscle activity of the left knee lift during quadruped position push up plus (p<0.05). The left SA muscle activity was higher than right. In addition, comparative analysis of UT and SA ratio to the left knee lift during quadruped position push up plus was performed (p<0.05). The left was found to be a significance statistic than the right. In addition, the interaction effect between the groups showed significant differences (p<0.05). Conclusion: Knee lift during push up plus is recommended for the selective activation of a research exercise protocol of one side of the serratus anterior.

• 한국융합학회논문지
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• 제7권5호
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• pp.51-57
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• 2016

본 연구는 초음파 영상(ultrasound imaging)을 이용하여 네발기기 자세(quadruped position)에서 골반압박벨트(pelvic compression belt)가 뭇갈래근과 척추세움근의 근두께에 융합적으로 미치는 영향을 알아보기 위해 실시되었다. 대상자는 30명의 남자대학생으로 실험에 자발적으로 참여한 자로 선정하였다. 골반압박벨트를 위앞엉덩뼈가시아래(anterior superior iliac spines)에 착용한 상태와 착용하지 않은 상태에서 네발기기 자세를 실시하였고, 초음파영상 진단장치를 이용하여 근 두께를 측정하였다. 자료분석은 반복측정분산분석을 이용하였다. 연구결과, 뭇갈래근의 경우 골반압박벨트를 착용하였을 때가 착용하지 않았을 때보다 근두께가 유의하게 증가하였고(p<.05), 척추세움근의 경우도 골반압박벨트를 착용하였을 때가 착용하지 않았을 때보다 근두께가 유의하게 증가하였다(p<.05). 따라서 본 연구결과를 통해 골반압박벨트의 착용이 요통환자에게 효과적이며, 임상에서 다양한 네발기기 자세운동의 처방과 적용 시에 유용한 자료로 활용하고자 한다.

• 대한정형도수물리치료학회지
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• 제26권1호
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• pp.27-36
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• 2020

Background: Exercise in the quadruped position is performed to improve body and shoulder stability. This study examined the muscle activity of the trunk muscles according to the distance of the weight shift when lifting one leg in the quadruped position. Methods: Ten healthy 20 to 40 years old males were tested as subjects. All subjects moved their body weight to 0, 5, and 10cm on the opposite side of the leg lifter while maintaining the quadruped position. The surface electrodes recorded the electromyography data during the one leg lifting. Results: As the weight shift distance was increased, there was a significant difference in muscle activity of both serratus anterior, multifidus and internal oblique muscles (p<.05). Left and right serratus anterior and right internal oblique were most activated when weight shift distance was 0cm (p<.05). Conclusion: Shoulder and lumbar stabilization exercises should be applied in the absence of a weight shift distance during quadruped exercise.

• 한국운동역학회지
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• 제22권3호
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• pp.341-348
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• 2012

The purpose of this study was to compare the muscle activities of the thoracic extensor(TE) and lumbar extensor(LE) during trunk lift (TL) exercise according to exercise position. Seventeen healthy subjects with no medial history of back pain were recruited for this study. Subjects performed the TL exercise in prone, quadruped and heel-sitting positions. The activities of the TE and LE were measured using surface electromyography during TL exercise in each exercise position. A one-way repeated-measures analysis of variance (ANOVA) was used to compare the normalized muscle activities of the TE and LE and the TE/LE ratio. The results showed that there was not significant effect of exercise position on the muscle activities of TE(p>.05). However, there was significant effect of exercise position on the muscle activities of LE and the TE/LE ratio(p>.05). Post hoc pair-wise comparisons with Bonferroni correction showed that both muscle activities of LE and TE/LE ratio in prone position were significantly different in those in heel-sitting and quadruped positions, during TL exercise, respectively. The TE/LE ratio was the greatest for TL exercise in heel-sitting position. Therefore, for selective activation of the TE muscle, we recommend performing the TL exercise in heel-sitting or quadruped position.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권7호
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• pp.319-326
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• 2006

This paper proposes a novel fault-tolerant gait for Quadruped robots using energy stability margins. The previously developed fault-tolerant gaits for quadruped robots have a drawback of having marginal stability margin, which may lead to tumbling. In the process of tumbling, the potential energy of the center of gravity goes through a maximum. The larger the difference between the potential energy of the center of gravity of the initial position and that of this maximum, the less the robot tumbles. Hence this difference of potential energy, dubbed as Energy Stability Margin (ESM), can be regarded as the stability margin. In this paper, a novel fault-tolerant gait is presented which gives positive ESM to a quadruped robot suffering from a locked joint failure. Positive ESM is obtained by adjusting foot positions between leg swing sequences. The advantage of the proposed fault-tolerant gait is demonstrated in a case study where a quadruped robot with a failed leg walks on a even slope.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.46-46
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• 2000

A quadruped monitoring robot is introduced. The robot has several features that poses arbitrary position thanks to a 4-wheel hive mechanism, transmits an image and command data via RF wireless communication, and moreover, the imaged date are transferred through a network communication. The robot plays a role in monitoring what is happening around the robot and covers wide range due to a moving camera operated by the 4-wheel mechanism. The robot system can be applied k versatile models based the distinguished techniques introduced in this paper

• 한국정밀공학회지
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• 제22권6호
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• 대한통합의학회지
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• 제6권2호
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• pp.37-44
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• 2018

Purpose : The aim of this study is to compare the trunk muscle activities in trunk stabilization on the stable and unstable supporting surfaces using by sEMG. Methods : The subjects of this study include seventeen male. We measured sEMG activities of rectus abdominis and erector spine in subjects during trunk stabilization such as plank exercise, quadruped position, quadruped position with rising hand and foot on the stable and unstable surface. Results : sEMG activities in plank exercise was significantly higher in left rectus abdominis and left erector spine on unstable surface then stable surface (p<.05). sEMG activities of left rectus abdominis and left erector spine in quadruped position was significantly higher in unstable surface than stable surface (p<.05). In comparison with posture, Plank exercise showed a significant difference increase other postures (p<.05). Conclusion : sEMG activities of muscle in trunk stabilization was significantly higher in unstable surface than stable surface and plank exercise. So, we suggest that trunk stabilization on the unstable supporting surface and plank exercise were more effective method than stable surface to improve trunk muscles activities.

• 전기학회논문지
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• 제63권3호
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• pp.389-394
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• 2014

Two evolutionary gait generation methods for Cartesian and Joint coordinates space are compared to develop a fast locomotion for quadruped robots. GA(Genetic Algorithm) based approaches seek to optimize a pre-selected set of parameters for the locus of paw and initial position in cartesian coordinates space. GP(Genetic Programming) based technique generate few joint trajectories using symbolic regression in joint coordinates space as a form of polynomials. Optimization for two proposed methods are executed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are analysed in terms of different coordinate spaces.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권9호
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• pp.547-555
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• 2005

A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.