• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.360-364
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• 2001

In this paper, a novel method of reaching law variable structure control based on fuzzy rules is present, which is that the reaching law parameters is on-line adjusted by fuzzy rules. This method is used in a digital ac position servo system, the experiment results show that the system designed by this method has both satisfactory quality and very smaller chattering.

• The Journal of Korean Physical Therapy
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• v.27 no.2
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• pp.106-111
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• 2015

Purpose: Impaired reaching movement is commonly observed in children with cerebral palsy. The purpose of this study was to determine whether the inclination of seat surface can influence the reaching movement in children with spastic diplegic cerebral palsy (CP). Methods: The subjects were 31 children, 16 children with spastic bilateral CP and 15 typically developing (TD) children. The children performed static sitting and forward reaching under three conditions: a horizontal seat surface (Horizontal $0^{\circ}$), a seat surface inclined anterior 15 degrees (Ant $15^{\circ}$), and a seat surface inclined posterior 15 degrees (Post $15^{\circ}$). A 3-axis accelerometer ('ZSTAR3') was used for analysis of the reaching movement. A 3-axis accelerometer was attached on the manubrium of the sternum, lateral epicondyle of the humerus, and styloid process of the ulna. We measured the reaction time, movement time, and data amount during reaching the 8 cm target with an index finger on the three inclined seat surfaces. Results: Reaction time and movement time for CPs showed significant delay; comparing the TD's and CP's amount was significantly greater than the TD's during reaching task (p<0.05). In particular, CP's reaction time and movement time on a seat surface inclined Ant $15^{\circ}$ was significantly more delayed compared with the other seat surfaces (p<0.05). Conclusion: Our results suggest that seat-inclination intervention may provide an ergonomic approach for children with spastic cerebral palsy.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.1
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• pp.50-57
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• 2006

This study describes to analyze the cooling load characteristics for a room air conditioner as a function of supply ventilation air when an air conditioner is running An experimental apparatus consists of a test room, a room air conditioner, a humidifier, an electrical heater a supply fan and a controller The reaching time to the inside setting temperature of the room air conditioner with is evaluated theoretically and experimentally in a conditioned space cooling loads such as supply ventilation air, lighting, occupancy and infiltration. In the conditions of cooling loads for the supply ventilation air of 9.5 L/s(0.98 ACH). lights. one Person, and infiltration, the reaching time to the inside setting temperature ($27\;^{\circ}C$ dry-bulb) increases up to $35\%$ more than for no supply ventilation air condition. Theoretical modelling of the reaching time shows good agreement with experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.474-474
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• 2000

This paper shows that a system with two-link arm can obtain hand reaching movement to a target object projected on a visual sensor by reinforcement learning using a layered neural network. The reinforcement signal, which is an only signal from the environment, is given to the system only when the hand reaches the target object. The neural network computes two joint torques from visual sensory signals, joint angles, and joint angular velocities considering the urn dynamics. It is known that the trajectory of the voluntary movement o( human hand reaching is almost straight, and the hand velocity changes like bell-shape. Although there are some exceptions, the properties of the trajectories obtained by the reinforcement learning are somewhat similar to the experimental result of the human hand reaching movement.

• Physical Therapy Korea
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• v.25 no.3
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• pp.51-59
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• 2018

Background: Despite muscle latency times and patterns were used as broad examination tools to diagnose disease and recovery, previous studies have not compared the dominant arm to the non-dominant arm in muscle latency time and muscle recruitment patterns during reaching and reach-to-grasp movements. Objects: The present study aimed to investigate dominant and non-dominant hand differences in muscle latency time and recruitment pattern during reaching and reach-to-grasp movements. In addition, by manipulating the speed of movement, we examined the effect of movement speed on neuromuscular control of both right and left hands. Methods: A total of 28 right-handed (measured by Edinburgh Handedness Inventory) healthy subjects were recruited. We recorded surface electromyography muscle latency time and muscle recruitment patterns of four upper extremity muscles (i.e., anterior deltoid, triceps brachii, flexor digitorum superficialis, and extensor digitorum) from each left and right arm. Mixed-effect linear regression was used to detect differences between hands, reaching and reach-to-grasp, and the fast and preferred speed conditions. Results: There were no significant differences in muscle latency time between dominant and non-dominant hands or reaching and reach-to-grasp tasks (p>.05). However, there was a significantly longer muscle latency time in the preferred speed condition than the fast speed condition on both reaching and reach-to-grasp tasks (p<.05). Conclusion: These findings showed similar muscle latency time and muscle activation patterns with respect to movement speeds and tasks. Our findings hope to provide normative muscle physiology data for both right and left hands, thus aiding the understanding of the abnormal movements from patients and to develop appropriate rehabilitation strategies specific to dominant and non-dominant hands.

• The Korean journal of sports medicine
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• v.36 no.4
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• pp.197-206
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• 2018

Purpose: This study analyzed the muscle activity changes induced by motions of reaching forward and chest expansion that were examined from the bilateral muscles with rectus abdominis, external oblique, multifidus, and longissimus thoracic using Pilates cadillac instrument. Methods: Nine young adult women, who have no musculoskeletal disorder and any of chronic diseases, were participated. Surface electromyography system was used for recording of all signals produced by muscles, and then normalized as percentage of maximum voluntary isometric contraction (%MVIC). The paired t-test and repeated measures of analysis of variance was performed. Results: Reaching-forward motion showed a higher muscle activity from non-dominant external oblique muscle than that of the chest-expansion motion. During both reaching-forward motion and chest-expansion motion, MVIC values collected from dominant side of external oblique muscle were shown a significantly lower than the values obtained from non-dominant side (p<0.05). Conversely, %MVIC values in external oblique muscle collected from dominant side showed a significantly higher than the values obtained from non-dominant side of the same oblique muscle (p<0.05). Reaching-forward motion was caused a higher %MVIC on non-dominant external oblique muscle than that of the chest-expansion motion (p<0.05). Regardless of dominant or non-dominant sides, external oblique muscle was shown the highest activation rate of all the other muscles during reaching forward action, and longissimus thoracic muscle was shown the highest activation rate of all the other muscles during chest expansion action. Conclusion: Reaching-forward motion is suitable for activating an external oblique muscle, and chest-expansion motion is an effective enough in activating of longissimus thoracic muscle.

• The Journal of Korean society of community based occupational therapy
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• v.10 no.1
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• pp.51-61
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• 2020

Objectives : The purpose of this study is to investigate the effect of object size and reaching distance on kinematic factors of the upper limb while performing arm reaching for normal subjects. Methods : The subjects of this study were 30 university students who were in D university in Busan, and the measuring tool was CMS-70P(Zebris Medizintechnik Gmbh, Germany), a three-dimensional motion analyzer. The task had six conditions. The average velocity of motion, average acceleration, maximum velocity, and the velocity definite number of movements were measured according to changes in object size(2cm, 10cm) and reaching distance(15%, 37.5%, 60%) when they performed arm reaching. The general characteristics of the subject were technical statistics. One-way ANOVA measurement was used to compare variables when the arm reaching task was performed from two object sizes to three reaching distance, and the post-test was conducted with Tukey test. In addition, an independent t-test was used to analyze the kinematic differences according to the two object sizes at three reaching distances. A two-way ANOVA measurement (3×2 Two-way ANOVA measurement) was performed to identify the interaction of the reaching distance(15%, 37.5%, 60%) and the object size(2cm, 10cm). The statistical significance level α was set to .05. Results : When the size of the object increased, the velocity and maximum velocity also increased, but the definite number of velocity decreased. When the reaching distance increased, the velocity and maximum velocity increased, whereas the definite number of velocity decreased. Conclusion : The clinical significance of this study could be utilized as the baseline data for grading object size and reaching distances when the reaching training is implemented for patients whose central nervous system was damaged.

• Journal of the Korean Society of Physical Medicine
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• v.11 no.3
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• pp.125-131
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• 2016

PURPOSE: The objective of this research is to investigate the effectiveness of mental practice on function and muscle activation of upper extremity (UE) in stroke patients. METHODS: The mental practice was conducted on 12 subjects for 10 minutes and the related existing work treatment for 20 minutes. The evaluation for the function of UE proceeded with Fugl-Meyer assessment of motor function (FMA) and muscle activity analysis instrument. Furthermore we analyzed patients' reaching activity by two stages, reaching phase and returning to original position phase. RESULTS: According to the research results, the subjects' upper limb function improved in all of the measured items and the total scores after the mental practice (p<.05). In muscle activity, CCR value was used to efficiently analyze the patients' reaching activity in the two stages of reaching stage and returning to the original position phase. While the elbow movement only had a bit of positive change (1.1%) in the reaching stage, both the shoulder (-12.3%) and elbow (-18.2%) movements had a positive change in the returning to original position phase. CONCLUSION: This research confirmed that the mental practice is effective for the enhancement of UE function for stroke patients. The result of this research can contribute to the progress of mental practice in clinical environment.

• Physical Therapy Korea
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• v.27 no.1
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• pp.11-18
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• 2020

Background: As technology has progressed, various robot-assisted devices have been developed to reduce therapists' labor and assist in therapy. However, due to their many limitations, it is more practical to use traditional mechanical devices. The grahamizer is one such traditional mechanical device used clinically to rehabilitate the upper extremities. No study has yet established the efficacy of the grahamizer in individuals with stroke. Objects: This study investigated the immediate change in arm reaching after the use of a grahamizer. Methods: Twenty-two stroke survivors participated in this study (11 males and 11 females). The reaching of the more-affected arm was measured three times using the three-dimentional electromagnetic motion tracking system "trakSTAR". After the first measurement, the subjects performed 500 rotatory arm exercises using the grahamizer. To assess the grahamizer's effect, the subjects were remeasured in the same way. Results: There were significant increases in the reaching distance (p < 0.05) and movement smoothness (p < 0.05) of the more-affected arm after using the grahamizer. Conclusion: Our study confirms that using the grahamizer is beneficial in the rehabilitation for improving movement of the more-affected arm in stroke survivors.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.2
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• pp.267-274
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• 2006

There are no solar loads through windows and heat transfer from outer walls of the building to the interior This study analyzes indoor air temperature and air flow distribution for the interior of buildings or vessels occupying space. Numerical method is adopted to visualize the indoor side environmental situation. that is without heat transmission to outside the building in various cooling load conditions; supply ventilation lighting. occupancy and infiltration in conditioned spaces. Reaching time of an air conditioner is predicted theoretically by cooling load variations. Theoretical modelling of the reaching time shows good agreement with experimental results.