• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• The Journal of Korean Physical Therapy
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• v.29 no.3
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• pp.145-151
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• 2017

Purpose: The purpose of this study was to investigate the validity and reliability of the measurement of shoulder joint motions using an inertial measurement unit (IMU). Methods: For this study, 33 participants (32 females and 1 male) were recruited. The subjects were passively positioned with the shoulder placed at specific angles using a goniometer (shoulder flexion $0^{\circ}-170^{\circ}$, abduction $0^{\circ}-170^{\circ}$, external rotation $0^{\circ}-90^{\circ}$, and internal rotation $0^{\circ}-60^{\circ}$ angles). Kinematic data on the shoulder joints were simultaneously obtained using IMU three-dimensional (3D) angular measurement (MyoMotion) and photographic measurement. Test-retest reliability and concurrent validity were examined. Results: The MyoMotion system provided good to very good relative reliability with small standard error of measurement (SEM) and minimal detectable change (MDC) values from all three planes. It also presented acceptable validity, except for some of shoulder flexion, shoulder external rotation, and shoulder abduction. There was a trend for the shoulder joint measurements to be underestimated using the IMU 3D angular measurement system compared to the goniometer and photo methods in all planes. Conclusion: The IMU 3D angular measurement provided a reliable measurement and presented acceptable validity. However, it showed relatively low accuracy in some shoulder positions. Therefore, using the MyoMotion measurement system to assess shoulder joint angles would be recommended only with careful consideration and supervision in all situations.

• Korean Journal of Applied Biomechanics
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• v.19 no.3
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• pp.549-555
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• 2009

The purpose of this study was to quantify the isokinetic peak torque and range of motion at the shoulder in 8 national male volleyball players who played during the 2008 professional leagues. In this study the strength and range of motion data in the internal rotation(IR) and external rotation(ER) of shoulder joint were measured with isokinetic measurement system(Biodex Inc) and motion analysis system (Simi motion system Inc.) from 3 volleyball players with atrophy of the infrasupinatus and 5 volleyball players without atrophy of the infraspinatus. Peak torques were determined using isokinetic measurement on the shoulder joint rotator at the point of angular velocities of $60^{\circ}$/s. Significant difference was found in the peak torque, IR / ER ratio and the range of motion through assessment of the dominant shoulder between two groups. we recommended functional exercises that improve both external rotators strength and stretching exercise for internal rotation in the dominant side during the prevention programs in volleyball players.

• ETRI Journal
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• v.37 no.4
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• pp.766-771
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• 2015

Robust motion estimation for human-computer interactions played an important role in a novel method of interaction with electronic devices. Existing pose estimation using a monocular camera employs either ego-motion or exo-motion, both of which are not sufficiently accurate for estimating fine motion due to the motion ambiguity of rotation and translation. This paper presents a hybrid vision-based pose estimation method for fine-motion estimation that is specifically capable of extracting human body motion accurately. The method uses an ego-camera attached to a point of interest and exo-cameras located in the immediate surroundings of the point of interest. The exo-cameras can easily track the exact position of the point of interest by triangulation. Once the position is given, the ego-camera can accurately obtain the point of interest's orientation. In this way, any ambiguity between rotation and translation is eliminated and the exact motion of a target point (that is, ego-camera) can then be obtained. The proposed method is expected to provide a practical solution for robustly estimating fine motion in a non-contact manner, such as in interactive games that are designed for special purposes (for example, remote rehabilitation care systems).

• The Journal of Korean Physical Therapy
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• v.34 no.4
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• pp.140-148
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• 2022

Purpose: The purpose of this study was to investigate the effects of the scapulothoracic mobilization on subject with lateral epicondylalgia. This was done through lateral slide scapular test, grip strength, visual analogue scale, glenohumeral joint external rotation range of motion. Methods: Before the experiment, Lateral slide scapular test, grip strength, visual analogue scale, glenohumeral joint external rotation range of motion were measured. Scapulothoracic joint mobilization was applied and then measurements were taken again to compared the changes. Results: After applying the scapulothoracic joint mobilization, lateral slide scapular test, grip strength, visual analogue scale, glenohumeral joint external rotation range of motion significantly improved. Conclusion: This study found that the scapulothoracic mobilization was effective in improving functional aspects and pain on subject with lateral epicondylalgia. The results suggest that the scapulothoracic joint mobilization is a significant considered intervention method that could be used for subject with lateral epicondylalgia.

• Physical Therapy Korea
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• v.25 no.1
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• pp.47-52
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• 2018

Background: A limited hip rotational range of motion (ROM) has been considered to be one of characteristics of low back pain (LBP) in athletes. Although LBP frequently occurs in jiu-jitsu athletes, no previous has compared hip rotational ROM between jiu-jitsu athletes with and without LBP. Objects: The aim of the study was to compare ROM for hip internal rotation (IR) and external rotation (ER), and total hip rotation between jiu-jitsu athletes with and without LBP. Methods: Jiu-jitsu athletes were recruited for the LBP group ($n_1=15$) and control group without LBP ($n_2=15$). IR, ER, and total rotational range of hip joint were measured using a goniometer. Analysis of variance was used to compare the ROM between groups and sides. Results: The LBP group showed a significantly lower range of passive hip IR, passive total rotation, active IR, active ER, and active total rotation than the control group (p<.05). Dominant side of passive hip IR and active IR had a significantly lower ROM than non-dominant side (p<.05). In passive ER ROM, non-dominant side was significantly greater than dominant side (p<.05). Conclusion: Compared to jiu-jitsu athletes without LBP, athletes with LBP exhibit a loss of hip rotational ROM. Based on these results, clinicians and athletic trainers should measure hip rotational ROM when designing the management plan for jiu-jitsu athletes with LBP.

• Clinical Pain
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• v.18 no.2
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• pp.76-81
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• 2019

Objective: To examine (1) the degree of reduction of passive range of motion (PROM) on the affected side compared to that on the unaffected side and (2) the degree of increase in PROM following intra-articular corticosteroid injection (IACI) in patients with frozen shoulder. Method: The medical records of 120 patients with frozen shoulder were retrospectively reviewed. PROM of the unaffected and affected shoulder (flexion, extension, abduction, internal rotation, external rotation) was compared, and changes in PROM of the affected shoulder after a single IACI (triamcinolone 20 mg) were evaluated after 12 weeks. Results: At the time of diagnosis, PROM of the affected shoulder was most limited in external rotation, followed by internal rotation, abduction, extension, and flexion, compared to that of the unaffected shoulder. Compared to before IACI, PROM of external rotation demonstrated the greatest increase compared to all the other movements after IACI. Conclusion: Limitation in PROM of the frozen shoulder at the time of diagnosis was greatest for external rotation. Moreover, external rotation experienced the greatest improvement after IACI. Our findings should help to further clarify the clinical characteristics of frozen shoulder, aid in its diagnosis, and allow the prediction of the effects of IACI.

• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.467-477
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• 2011

This study was performed to investigate the effects of tibial rotation while going up stair on muscle activity of vastus medialis oblique and vastus lateralis, and on patellar displacement. The subjects included 30 people (male: 15; female: 15) who were randomly assigned to the tibial internal-rotation, neutral-rotation, and external-rotation groups. The subjects went up the stair while performing the assigned rotations, and the rotation of the hip and the displacement of the patella were measured using a 3D motion analyzer. In addition, the maximum voluntary isometric contraction (MVIC) of the vastus medialis oblique and vastus lateralis were measured using surface electromyogram. On the tibial internal rotation, the hip rotation significantly appeared in the same direction and so did on the tibial neutral and external rotations(p<.001). Although the MVIC of the vastus medialis oblique and vastus lateralis did not significantly differ by tibial rotation during the stair ascent, the MVIC of the vastus medialis oblique was higher than that of the vastus lateralis during the internal and neutral rotations (p<.05). In addition, during the stair ascent, the displacement of the patella was more significant during the tibial external rotation than during the tibial internal and neutral rotations(p<.001). Thus, patients with patellofemoral pain are required to be considered the effects of tibial rotation for their rehabilitation.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.15 no.2
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• pp.63-68
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• 2009

Purpose : The purpose of this study was to investigate the effect of tensor fasciae latae length on the rotation of pelvis during one leg stance. Methods : 41 healthy adults participated in this study. The movement of the pelvis and trunk was measured using 3-dimensional motion analyzer, during one leg stance. The movement of the pelvis and trunk was collected lateral shift, rotation, side bending, and flexion-extension. Tensor fasciae latae length of subjects was measured in sidelying positon with neutral position of hip joint and flexion $90^{\circ}$ of knee. Also, the range of motion of hip exteral and interal rotaion were measured in prone position wih lexion $90^{\circ}$ of knee. The subjects were separated 2 groups that more pelvic rotation group(n=15) and less pelvic rotation group(n=15) according to the degree of pelvic rotation. Results : The more pelvic rotation group was showed significantly higher in the ROM of hip external rotation than less pelvic rotation group(p<0.05). The difference of tensor fasciae latae length not showed significant difference between groups. During one leg stance, The movement of the shifting and flexion-extension of trunk and pelvis were not showed significant difference. But the side bending and the rotation of pelvis and trunk showed significant difference between groups. Conclusion : The difference of tensor fasciae latae length not showed significantly in more pelvic rotation group and less pelvic rotation group. But, this study suggests that the pelvis instability brings the instability of the trunk during one leg stance.

• Physical Therapy Korea
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• v.31 no.1
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• pp.79-88
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• 2024

Background: The abdominal drawing-in maneuver (ADIM), a method of lumbar stabilization training, is an effective neuromuscular intervention for lumbar instability associated with low back pain (LBP). Objects: The purpose of this study was to compare the effect of a 2-week period of the ADIM and tensor fasciae latae-iliotibial band (TFL-ITB) self-stretching on lumbopelvic rotation angle, lumbopelvic rotation movement onset, TFL-ITB length, and pain intensity during active prone hip lateral rotation. Methods: Twenty-two subjects with lumbar extension rotation syndrome accompanying shortened TFL-ITB (16 males and 6 females) were recruited for this study. The subjects were instructed how to perform ADIM training or ADIM training plus TFL-ITB self-stretching program at home for a 2-week period. A 3-dimensional ultrasonic motion analysis system was used to measure the lumbopelvic rotation angle and lumbopelvic rotation movement onset. An independent t-test was used to determine between-group differences for each outcome measure (lumbopelvic rotation angle, lumbopelvic rotation movement onset, TFL-ITB length, and pain intensity). Results: The results showed that ADIM training plus TFL-ITB self-stretching decreased the lumbopelvic rotation angle, delayed the lumbopelvic rotation movement onset, and elongated the TFL-ITB significantly more than did ADIM training alone. Pain intensity was lower in the ADIM training plus TFL-ITB self-stretching group than the ADIM training alone group; however, the difference was not significant. Conclusion: ADIM training plus TFL-ITB self-stretching performed for a 2-week period at home may be an effective treatment for modifying lumbopelvic motion and reducing LBP.