• The Journal of Korean Physical Therapy
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• v.9 no.1
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• pp.127-145
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• 1997

The purpose of this study wa9 to analyse the gait patterns of two female children with hemiplegic cerebral palsy by using the three-dimensional video motion analysis technique. Case 1 has mild spastic hemiplegia on the right side while Case 3 has moderate spastic hemiplegia on the left side. A group of 10, normal female children of the same age(7-8 years old) were selected as the control group for comparison. Time and distance variables as well as the Center of Mass displacement, and the pelvic and joint motions in three anatomical planes were analysed for this purpose. The following observations were made through the analysis : Case 1 revealed an asymmetrical gait pattern in which the step length of the unaffected side was shorter than that of the affected side, which wan a result of the effort to minimize loading on the affected leg by shortening the swing phase of the unaffected leg. Case 1 scored similar phase ratios, cadence and walking velocity to the normal group. A slight posterior tilt of the pelvis was observed throughout the gait cycle. Less hip and knee flexion than the normal group was observed, and demonstrated hyperextension of the knee in the terminal stance phase. The main problem in case 1 originated from the insufficient dorsiflexion of the affected foot during the swing phase. Therefore, Case 1 has difficulty with foot clearance in the swing phase. Usually, this is compensated for by using exessive hip abduction and medial rotation in conjuction with trunk elevation as well as increased vortical displacement of the center of mass. Case 1 revealed a foot-flat initial contact pattern. Case 2 was characterized by a consistent retraction ef the affected aide of the body througout the gait cycle, As a result, an asymmetrical gait pattern with increased stance phase ratios of the unaffected side was observed. In spite of this the step lengths of both sieds were similar. Case 2 scored lower cadence and walking speed than the normal group with lower gait stability. The main problem in Case 2 originated from an excessive plantaflexion of the affected foot which, in turn, rebutted in high hip and knee flexion. Hyperextension of the knee was observed at mid-stance, and execessive anterior tilt of the pelvis throughout the gait cycle was noticed. A gait pattern with high hip abduction and medial circumduction was maintained for the stability in the stance phase and foot clearance in the swing phase. Case 2 revealed a forefoot-contact initial contact pattern.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.91-107
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• 2002

This research got the following conclusion as result that analyzed high clear action kinematically to 4 C girls' junior high school badminton players who are situated in Chungchong-bukdo. 1. Most of the subject didn't rotate their right shoulder and elbow joint at back swing and moved speedy to shuttle cock. And an cooperation action of joint decreases displaying only a good action on both subject`s specification joint part. 2. When the subject S1 and S2 swing slowly and largely the joint of shoulder and elbow and then the speed of right wrist and racket head is fast, the cooperation action of joint is better than other subject. 3. An angle change of right shoulder showed angle that all subjects are great being caused in softness of joint and angular velocity was exposed that load enough Impact force and increase the speed of racket head as angular velocity decreases rapidly in Impact except subject S3. 4. All subjects of right elbow angle change showed similar form and was exposed that subject S2 sees form of impact stage serious bends from back swing and do not use force effectively in angular velocity. 5. Angle of right wrist appeared that the speed of shuttle cock is decelerated because fast bends of wrist is not formed shortly after Impact because all subject do not accomplish big angle shortly after back swing. Angular velocity can assume that the subject S1 and S4 are using and move fast strong snap shot offering angular velocity value of Impact stage sound (-). 6. While size of Impact stage knee angle accomplishes angle that is big both subject, hip joint angles sees small angle and is playing swing that do on upper body and arm without using strong waist force that is composition action with knee and hip joint.

• Journal of the Society of Naval Architects of Korea
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• v.56 no.5
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• pp.418-426
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• 2019

To derive a simplified analytic solution which can be utilized as a fundamental solution for the wave maker design, a segment of the wave board has been idealized as a submerged line segment in a two dimensional domain of a wave flume. The lower end of the line segment could be located at arbitrary depth of the wave flume and the upper end of the board could be also submerged to any depth from the free surface. The freely oscillating motion of the wave board is assumed to be defined by determining the condition of horizontal oscillation on both ends differently. The submerged wave board oscillating in horizontal direction could be specified by selecting the amplitude, frequency and the phase lag differently on lower and upper ends of the board. The simplified two dimensional wave generated by the wave board segment has been obtained by the first order perturbation method. It is found that the general solution of the freely oscillating wave board in two dimensional domain could be decomposed into the solution of flap motion with lower end hinge and swing motion with upper end hinge. The case study of the analytic solutions has been carried out to evaluate the effect on the wave height due to the difference of oscillation frequency, phase difference and variation of stroke between for the motion of both ends. It is found that the solution of the freely oscillating wave board could be utilized for the development of high performance wavemaker especially for irregular waves.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.695-698
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• 2015

In this paper proposes bat tracking in baseball broadcasting using CAMshift and Kalman filter. The bat is changing fast during the swing, the shape also continues to rotate. For this reason, to apply the CAMshift to self adjust the size of the search window in order to use the color information to the invariant of the bat. Because it uses the color information if there are objects of similar color to the background because of the interruption on the track narrows the search range in range of motion detection by using the MHI(Motion History Image). By applying a Kalman filter, limit changing on the size of the search window, and it can be obtained higher track accuracy. But, this proposed method was limited color change by light.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.176-184
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• 2000

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.1
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• pp.66-75
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• 2002

The crane operation used fur transporting heavy loads causes a swinging motion with the loads due to the crane\`s acceleration and deceleration. This sway causes the suspension ropes to leave their grooves and can cause serious damage. Ideally, the purpose of a crane system is to transport loads to a goal position as soon as possible without any oscillation of the rope. Currently, cranes are generally operated based on expert knowledge alone, accordingly, the development of a satisfactory control method that can efficiently suppress object sway during transport is essential. The dynamic behavior of a crane shows nonlinear characteristics. When the length of the rope is changed, a crane becomes a time-varying system thus the design of an anti-sway controller is very difficult. In this paper, a nonlinear dynamic model is derived for an industrial overhead crane whose girder, trolley, and hoister move simultaneously. Furthermore, a fuzzy logic controller, based on expert experiments during acceleration, constant velocity, deceleration, and stop position periods is proposed to suppress the swing motion and control the position of the crane. Computer simulation is then used to test the performance of the fuzzy controller with the nonlinear crane model.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.39-46
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• 2011

The purpose of this study was to examine differences between players who bend the left elbow and those who stretch it during the forward swing from BST to BC in a 2-handed backhand stroke among outstanding high school tennis players, and to assess the detailed 3D rotational kinematic characteristics of the shoulder and the hip. Statistically significant differences were observed between groups in the longitudinal axis rotation angle of the shoulder and the angle between the shoulder and the arm at BST, and in the side to side movement of the shoulder, the up and down movement of the hip, the side tilt angular velocity of the shoulder, the side tilt angular velocity of the hip, and the front tilt angular velocity of the hip at BC. The difference in the longitudinal axis rotation angle of the shoulder between the 2 groups suggests a difference in the flexibility of the joint in the shoulder arm racquet system. The longitudinal axis rotation angular velocity of the shoulder reached its peak at 75 % of the duration of the analyzed segment and then decreased little by little until BC. This time is considered the stage for increasing the angular velocity of the upper arm, the forearm, the hand and then the racquet, which are more distal segments than the shoulder.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.285-292
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• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• The Journal of Korean Physical Therapy
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• v.35 no.3
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• pp.64-70
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• 2023

Purpose: This study investigated the influence of attention-demanding tasks on gait and measured differences in the temporal, spatial and kinematic characteristics between young healthy adults and elderly healthy adults. Methods: We recruited 16 healthy young adults and 15 healthy elderly adults in this study. All participants performed two cognitive tasks: a subtraction dual-task (SDT) and working memory dual-task (WMDT) during gait plus one normal gait. Using the LEGSys+ system, knee and hip-joint kinematic data during stance and swing phase and spatiotemporal parameter data were assessed in this study. Results: In the elderly adult group, attention-demanding tasks with gait showed a significant decrease in hip-joint motion during the stance phase, compared to the normal gait. Step length, stride length and stride velocity of the elderly adult group were significantly decreased in WMDT gait compared to normal gait (p<0.05). In the young adult group, kinematic data did not show any significant difference. However, stride velocity and cadence during SDT and WMDT gaits were significantly decreased compared to those of normal gait (p<0.05). Conclusion: We determined that attention-demanding tasks during gait in elderly adults can induce decreased hip-joint motion during stance phase and decreased gait speed and stride length to maintain balance and prevent risk of falling. We believe that understanding the changes during gait in older ages, particularly during attention-demanding tasks, would be helpful for intervention strategies and improved risk assessment.