• 한국컴퓨터그래픽스학회논문지
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• 제18권2호
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• pp.55-62
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• 2012

본 논문에서는 GPU의 정점 셰이더에서 각 정점별 질량-스프링 모의 실험을 수행하여, 매우 빠른 속도로 피부의 2차 변형을 표현하는 새로운 방법을 제안한다. 3차원 캐릭터의 각 피부 정점에 대해, 길이가 0인 스프링으로 가상 정점을 연결하고, 캐릭터 동작에 따라서 피부 정점의 위치 및 속도가 변화하면, 질량-스프링 모의 실험을 통해 렌더링 될 가상 정점의 위치를 GPU의 정점 셰이더를 사용하여 병렬적으로 계산한다. 본 논문에서 제시하는 방법을 통해 피부의 재질 특성을 반영하는 2차 변형을 매우 빠르게 표현할 수 있으며, 각 피부 정점에 제안한 방법을 동적으로 적용하면 전통적인 2차원 애니메이션에서 관찰되는 수축-팽창(squash-and-stretch), 추종(follow-through)과 같은 효과도 매우 빠른 연산시간에 효과적으로 표현할 수 있다. 따라서 본 논문의 결과는 게임과 같은 실시간 응용분야에서 가상 캐릭터의 피부 변형을 표현하는데 효과적으로 사용될 수 있다.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.49-55
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• 2002

A decrease in the birthrate and aging are progressing in Japan and several countries. In that society, it is important that physically weak persons such as elderly persons are able to take care of themselves. We have been developing exoskeletal robots for human (especially for physically weak persons) motion support. In this study, the controller controls the angular position and impedance of the exoskeltal robot system using multiple fuzzy-neuro controllers based on biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. Since the activation level of working muscles tends to vary in accordance with the flexion angle of elbow, multiple fuzzy-neuro controllers are applied in the proposed method. The multiple fuzzy-neuro controllers are moderately switched in accordance with the elbow flexion angle. Because of the adaptation ability of the fuzzy-neuro controllers, the exoskeletal robot is flexible enough to deal with biological signal such as EMG. The experimental results show the effectiveness of the proposed controller.

• Journal of Biosystems Engineering
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• 제33권5호
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• pp.326-332
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• 2008

A respiration measurement system for vital signs was developed. Respiration signals were measured, processed, and analyzed. Four electrodes, attached on the surface of the skin, were used to monitor respiration signals by impedance pneumography. The measured signals were amplified, detrended, filtered, and transferred toan embedded module. The Kalman filter was used to remove motion artifact from the respiration signals. Experiments were conducted at stable condition and walking condition to evaluate the performance of the system. Respiration rates of five males and five females were measured and analyzed at each condition. The referenced respiration signal was determined by temperature of nose surroundings. The results showed that the respiration rates at the walking condition had more motion artifacts than the stable condition. The accuracies of the respiration measurement system with Kalman filter were found as 96% at the stable condition and 95% at the walking condition. The results showed that the Kalman filter was an effective tool to remove the motion artifact from the respiration signal.

• 대한전자공학회논문지SP
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• 제47권2호
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• pp.20-32
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• 2010

기존 모션 캡쳐의 경우, 고가의 장비나 사용의 복잡도, 동작자의 움직임 제한 등 모션 캡쳐의 어려움이 있었다. 최근 실시간으로 모션 캡쳐가 가능한 컴퓨터 비젼 기반 시스템에 대한 연구가 활발히 진행되고 있다. 본 논문에서는 다시점 영상으로부터 쉽고, 빠르게 추출할 수 있는 피부색과 정확한 3차원 복원을 위한 2차원 영상 좌표 보정을 사용하여 효율적인 다시점 영상 분석 알고리즘을 제안한다. 동작자의 피부색을 검출하고, 카메라 보정 및 에피폴라 기하학 정보를 이용하여 보다 정확한 영상 분석, 그라고 칼만 필터(Kalman filter)를 사용한 추적 등을 통해 보다 안정적인 모션 캡쳐가 가능하게 된다. 실험결과를 통하여, 제안된 방법은 보다 정확한 위치 추정 및 살시간 모션 캡쳐를 위한 알고리즘임을 보여주고 있다.

• 대한전자공학회논문지SP
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• 제45권6호
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• pp.44-56
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• 2008

기존 모션 캡쳐의 경우, 고가의 장비나 사용의 복잡도, 동작자의 움직임 제한 등 모션 캡쳐의 어려움이 있었다. 최근 실시간으로 모션 캡쳐가 가능한 컴퓨터 비젼 기반 시스템에 대한 연구가 활발히 진행되고 있다. 본 논문에서는 다시점 영상으로부터 쉽고, 빠르게 추출할 수 있는 피부색과 정확한 3차원 복원을 위한 2차원 영상 좌표 보정을 사용하여 효율적인 다시점 영상 분석 알고리즘을 제안한다. 동작자와 피부색을 검출하고, 카메라 보정 및 에피폴라 기하학 정보를 이용하여 보다 정확한 영상 분석, 그리고 칼만 필터(Kalman filter)를 사용한 추적 등을 통해 보다 안정적인 모션 캡쳐가 가능하게 된다. 실험결과를 통하여, 제안된 방법은 보다 정확한 위치 추정 및 실시간 모션 캡쳐를 위한 알고리즘임을 보여주고 있다.

• PNF and Movement
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• 제19권3호
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• pp.401-412
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• 2021

Purpose: The study aimed to determine the effect of the proprioceptive neuromuscular facilitation (PNF) lower trapezius muscle strengthening exercise on pain, shoulder range of motion, and shoulder pain and disability index (SPADI) in patients with frozen shoulder. Methods: Following baseline measurements, 30 subjects (n=30) with frozen shoulder were randomized into two groups: the PNF group (n=15), which received PNF strength training of the lower trapezius muscles, and the control group (n=15), which received gentle palpation of the skin. Each group participated in the intervention for 30 minutes, three times per week, for six weeks. The visual analogue scales for pain, range of motion, and SPADI of both groups were recorded at both pre- and post-intervention. Paired t-tests were used to determine significant changes in the post-intervention period compared with pre-intervention, and independent t-tests were used to analyze differences in the dependent variables between the two groups. Results: After the six-week intervention, both groups experienced significantly decreased pain and SPADI (p < 0.05) and significantly increased shoulder flexion, abduction, internal rotation, and external rotation range of motion (p < 0.05). The PNF group that received the PNF strength exercise of the lower trapezius muscles showed greater improvements in pain and range of motion than those of the control group (p < 0.05). Conclusion: These results suggest that the PNF lower trapezius strengthening exercise reduces shoulder pain and disability levels and enhances shoulder range of motion in patients with frozen shoulder.

• 한국전문물리치료학회지
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• 제26권3호
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• pp.99-105
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• 2019

Background: Although magnetic resonance imaging is accurate, it is expensive to measure the movement of temporomandibular joint. The three-dimensional (3D) motion analysis system is an inexpensive measurement tool. Objects: This study examined the reliability of quantifying the mouth opening and lateral mandibular shift and differences between individuals with and without temporomandibular disorder (TMD) using the hygienic method of surface markers on the skin with 3D ultrasound-based motion analysis. Methods: This study included 24 subjects (12 with and 12 without TMD). Temporomandibular joint motion during mouth opening was recorded using two surface markers with 3D ultrasound-based motion analysis. An intraclass correlation coefficient [ICC (3,k)] was used to confirm the intrarater reliability of quantifying kinematic temporomandibular joint motion, and an independent t-test was used to evaluate differences in maximal mouth opening and lateral mandibular shift between the two groups. Results: Assessment of mouth opening and lateral mandibular shift showed excellent test-retest reliability with low standard error of measurement. The lateral mandibular shift and opening-lateral mandibular shift ratio were significantly increased in the TMD group during maximum mouth opening (p<.05). However, no significant difference in maximal mouth opening was observed between the groups with and without TMD (p>.05). Conclusion: This hygienic and simple surface marker method can be used to quantify the mouth opening and lateral mandibular shift at the end-range of mouth opening. The TMD group showed an increased lateral mandibular shift movement at the end-range of mouth opening. The lateral mandibular shift movement can be regarded as a symptom in the diagnosis and treatment of TMD.

• 한국컴퓨터정보학회논문지
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• 제10권4호
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• pp.113-121
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• 2005

실시간 영상에서 사람의 얼굴을 검출하는 것은 얼굴 인식 분야에 있어서 주요한 관심 분야 중의 하나이다. 본 본문에서는 실시간 입력되는 영상에서 피부색과 Haar-like feature를 이용한 얼굴 검출 알고리즘을 제안하였다. 제안된 알고리즘은 YCbCr 색 공간에서의 차 연산 기법을 이용하여 이동 물체의 움직임 영역을 ROI(region of interest)로 선정하고 Haar-like feature를 이용하여 얼굴 후보영역을 선정한 다음 피부색 정보를 이용하여 얼굴을 검출하였다. 특히, 가변적으로 선정되는 ROI 영역에 대하여 피부색 정보와 특징 정보를 이용함으로서 실시간 영상에 대하여 처리 속도의 향상과 비슷한 특징 또는 색상을 가진 영상이 얼굴로 검출되는 오류를 방지하였다. 실험 결과는 기존의 연구에 비해 30%의 처리 속도 향상과 96.8%의 검출 성공률을 보였다.

• 한국전문물리치료학회지
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• 제3권1호
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• pp.73-79
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• 1996

Photochemotherapy(UVA with 8-methoxypsoralen) was given to 30 patients with systemic psoriasis. The results of clearing and long-term(6-month) interval maintenance were reported. Clearing requirements were in general similar to these reported by Melski and Burger. The skin of the 14 patients (46.6%) recovered good skin condition by a once weekly maintenance dose. This result was better than that reported by other authors. 1. During initial treatment period, average number of treatment was 27.3 and average duration treatment was 24.8 weeks. 2. The factors to quit treatment were motion decrease, moving to the remote area, complications, etc. 3. Number of patient who received maintenance treatment was 14. 4. The complications reported from the patients were hyperpigmentation, nausea, headache, pruritis, vomiting, gastritis.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.694-697
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• 1996

The aim of this work for 5 years from 1994 is to develop a multi-fingered robot hand and its control system for grasp and manipulation of objects dexterously. Since the robot hand is still being developed, a commercialized robot hand from Barrett Company is utilized to implement a hand controller and control algorithm. For this, VME based motion control and interface boards are developed and multi-sensors such as encoder, force/torque sensor, dynamic sensor and artificial skin sensor are partly developed and employed for the grasping control algorithm. In oder to handle uncertainties such as mechanical idleness and backlash, a fuzzy rule based grasping algorithm is also considered and tested with the developed control system.