• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.8
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• pp.855-861
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• 2007

Haptic rendering is a process providing force feedback during interactions between a user and a virtual object. This paper presents a real-time haptic rendering technique for deformable objects based on visual information of intervention between a tool and a real object in a remote place. A user can feel the artificial reaction force through a haptic device in real-time when a slave system exerts manipulation tasks on a deformable object. The models of the deformable object and the manipulator are created from the captured image obtained with a CCD camera and the recognition of objects is achieved using image processing techniques. The force at a rate of 1 kHz for stable haptic interaction is deduced using extrapolation of forces at a low update rate. The rendering algorithm developed was tested and validated on a test platform consisting of a one-dimensional indentation device and an off-the shelf force feedback device. This software system can be used in a cellular manipulation system providing artificial force feedback to enhance a success rate of operations.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.

• The Journal of Korean Physical Therapy
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• v.22 no.6
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• pp.1-6
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• 2010

Purpose: This study investigated the effects of visual feedback during abdominal hollowing (AH) in four point kneeling position, using real-time ultrasound imaging through measurement of the changes in the thickness of transversus abdominis (TrA), internal abdominal oblique (IO), and external abdominal oblique (EO). Methods: The subjects of this study were 32 healthy males who were divided intothe experimental group of 16 subjects and the control group of 16 subjects. The real-time ultrasound feedback was applied to the experimental group while they were educated on the AH exercise in four point kneeling whereas only general education and training were given to the control group. After the training, the changes in the thickness of abdominal muscles during AH in four point kneeling were compared between the experimental group and the control group. Results: The differences of the changes in the thickness of TrA and EO between the two groups were statistically significant. Conclusion: The experimental group experienced a higher increase in the thickness of TrA than the control group while the thickness of IO and EO of the experimental.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.82-89
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• 2021

Purpose: This study is to investigate the muscle activity based on real-time visual feedback training methods by rehabilitative ultrasound image in elderly and correlation between Heckmatt scale grade, muscle tone and thickness. Design: Cross-sectional study: Pilot study Methods: 6 elderly participated in the study with 2 conditions. Under the condition of rehabilitation ultrasound imaging equipment, all subjects performed voluntary maximal muscle contraction of the quadriceps 3 times using visual feedback based on Rehabilitative Ultrasound Imaging 1.0 (RUSI 1.0). Under the condition of only ultrasound images, all subjects performed voluntary maximal muscle contraction of the quadriceps 3 times using ultrasound image-based visual feedback. The muscle thickness and tone of the quadriceps were measured and the grades were classified by Heckmatt scale and all variables were comparative analyzed. Results: Heckmatt scale grade showed a negative correlation with muscle thickness at relaxation (p<0.05), and a negative correlation with the difference value obtained by subtracting muscle thickness at relaxation from muscle thickness at contraction in ultrasound image condition (p<0.05). The muscle tone during relaxation showed a negative correlation with the muscle thickness during relaxation (p<0.05). Conclusion: In the case of voluntary maximum muscle contraction of the quadriceps muscle in the elderly, it can be seen that the muscle thickness is getting larger when the RUSI 1.0-based visual feedback is provided than with only ultrasound image provided. And the lower Heckmatt scale grade is, the thicker the muscle is, and the lower the muscle tone is.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• The Journal of Korean Physical Therapy
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• v.34 no.4
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• pp.155-160
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• 2022

Purpose: This study was to identify the effect of cervical stabilization exercise with visual feedback on the craniovertebral angle and foot pressure in subjects with forward head posture. Methods: Thirty healthy adults were recruited in the study. Participants were randomly assigned to the stabilization exercise with visual feedback (SE-VF) group (n=15) or stabilization exercise (SE) group (n=15). The SE-VF group performed cervical stabilization exercise while sitting on a chair without a backrest and checking their side profile in real time a monitor 3m away. The SE group performed the same cervical stabilization exercise as the SE-VF group accompanied by without visual feedback. Craniovertebral angle (CVA) was measured to quantify forward head posture, and the foot pressure of the subjects were evaluated. Results: The foot pressure showed statistically significant differences pre and post in both midfoot and left metatarsal only in SE-VF group (p<0.05). Conclusion: These findings of this study showed that the cervical stabilization exercise with visual feedback was effective for the foot pressure of subjects. In addition, based on the results of this study, it is suggested that visual feedback will be effective in cervical stabilization exercise.

• Physical Therapy Rehabilitation Science
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• v.7 no.3
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• pp.95-101
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• 2018

Objective: To determine if the provision of visual biofeedback using real-time rehabilitative ultrasound imaging (RUSI) enhances the acquisition and retention of diaphragm muscle recruitment during exercise. Design: Two group pretest posttest design. Methods: Thirty healthy subjects were randomly assigned to the verbal feedback group (VG, n=15) or the visual and verbal feedback group (VVG, n=15). The VG performed breathing exercises 10 times with verbal feedback, and the VVG also performed breathing exercises 10 times with verbal feedback and visual feedback with the use of RUSI to measure changes in diaphragm thickness (DT). For DT, the mid-axillary lines between ribs 8 and 9 on both sides were measured in standing, and then the chest wall was perpendicularly illuminated using a linear transducer with the patients in supine to observe the region between rib 8 and 9 and to obtain 2-dimensional images. DT was measured as the distance between the two parallel lines that appeared bright in the middle of the pleura and the peritoneum. After one week, three repetitions (follow-up session) were performed to confirm retention effects. Intra- and between- group percent changes in diaphragm muscle thickness were assessed. Results: In the VVG, the intervention value had a medium effect size compared to the baseline value, but the follow-up value decreased to a small effect size. In the between-group comparisons, during the intervention session, the VVG showed no significant effect on percent change of DT but had a medium effect size compared to the VG (p=0.050, Cohen's d=0.764). During the follow-up session, retention effect did not persist (p=0.311, Cohen's d=0.381). Conclusions: RUSI can be used to provide visual biofeedback and improve performance and retention in the ability to activate the diaphragm muscle in healthy subjects. Future research needs to establish a protocol for respiratory intervention to maintain the effect of diaphragmatic breathing training using RUSI with visual feedback.

• Korean Journal of Computational Design and Engineering
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• v.15 no.2
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• pp.136-143
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• 2010

Realistic Modeling is to maximize the reality of the environment in which perception is made by virtual environment or remote control using two or more senses of human. Especially, the field of haptic rendering, which provides reality through interaction of visual and tactual sense in realistic model, has brought attention. Haptic rendering calculates the force caused by model deformation during interaction with a virtual model and returns it to the user. Deformable model in the haptic rendering has more complexity than a rigid body because the deformation is calculated inside as well as the outside the model. For this model, Gibson suggested the 3D ChainMail algorithm using volumetric data. However, in case of the deformable model with non-homogeneous materials, there were some discordances between visual and tactual sense information when calculating the force-feedback in real time. Therefore, we propose an algorithm for the Volume Haptic Rendering of non-homogeneous deformable object that reflects the force-feedback consistently in real time, depending on visual information (the amount of deformation), without any post-processing.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.3
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• pp.112-121
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• 2002

This paper describes a new bike system for the postural balance rehabilitation training. Virtual environment and three dimensional graphic model is designed with CAD tools such as 3D Studio Max and World Up. For the real time bike simulation, the optimized WorldToolKit graphic library is embedded with the dynamic geometry generation method, multi-thread method, and portal generation method. In this experiment, 20 normal adults were tested to investigate the influencing factors of balancing posture. We evaluated the system by measuring the parameters such as path deviation, driving velocity, COP(center for pressure), and average weight shift. Also, we investigated the usefulness of visual feedback information by weight shift. The results showed that continuous visual feedback by weight shift was more effective than no visual feedback in the postural balance control It is concluded this system might be applied to clinical use as a new postural balance training system.

• Journal of The Korean Society of Integrative Medicine
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• v.11 no.2
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• pp.207-219
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• 2023

Purpose : This study was conducted to investigate the changes in trunk movement and ground reaction during sit to stand motion using visual feedback. Methods : Fifteen adults (average age: 23.53±1.77 years) participated in this study. An infrared reflective marker was attached to the body each participant for motion analysis, and the participants performed sit to stand motion while wearing a hat attached with a laser pointer, which provided visual feedback. First, the sit to stand action was repeated thrice without obtaining any visual feedback, followed by a three minute break. Next, the laser pointers attached to hats were irradiated on a whiteboard, located at a distance of 5 m in front of the chairs, on which the participants sat; a baseline was set, and the participants performed stand up movements three times under this condition. A visual feedback was provided to the participants to prevent the laser pointers from crossing the set baseline. During each stand-up movement, the position of the reflective marker attached to the subject's body was recorded in real time using an infrared camera for motion analysis. The trunk movement and ground reaction force were extracted through recorded data and analyzed according to the presence or absence of visual feedback. Results : The results indicated that in the presence of a visual feedback during the sit-to-stand movements, the range of motion of the trunk and hip joints decreased, whereas that of the knee and ankle joints increased in the sagittal plane. The rotation angle of the trunk in the horizontal plane decreased. The left and right movement speed of the center of pressure increased, the pressing force decreased, and the forward and backward movement speed of the trunk decreased. Conclusion : The results suggest that the efficiency and stability of the stand up movement of a body increase when a visual feedback is provided.