• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.6 no.2
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• pp.16-19
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• 2010

In this study, the axial ODSCC occurrence of domestic OPR 1000 steam generator tube was caused by the tube weakness and the sludge accumulation in the secondary side of steam generator. Inconel 600 HTMA used as tube material is related to most of tube leakage accidents in the world and also these ODSCCs were detected mainly at the 5th TSP(Tube Support Plate) to the 8th TSP of hot leg side. These elevations(5th TSP to 8th TSP) pave the way for the sludge accumulation. As a result of EC(Eddy Current) Bobbin and RPC data analysis, ODSCCs were occurred at contact points of tube and tube support plate. The more accumulated sludge, the higher occurrence frequency of ODSCC.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.1
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• pp.29-35
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• 2017

It was hard for a conventional care-bed to be realized to a low-floor position due to a complex actuation mechanism installed under the mattress support platform. In this paper a mechanism design to set a low-floor position as well as to adjust back- and leg-rest angles was proposed. A dual motor was applied to the back- and leg-rest mechanism of which design parameters were determined by an optimal method. An elevation mechanism was also designed to enlarge a limited stroke range up to two times of its original stroke using a pulley mechanism. An evaluation test was performed by five healthy subjects ($24.4{\pm}0.5yrs.$) when going up from a floor position to a preset best position which was set to the 240mm height for a prototype low-floor bed and to the 600mm height for a conventional bed. As a result, the moving distance was 38% lower than the conventional bed when the subject used the low-floor bed. It showed that the low-floor care-bed reduced physical burdens and was effective to assist activities of daily living of the elderly people.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.7
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• pp.1418-1423
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• 2004

A legged robot is friendly to human because it is resemble to human. And the robot can obtain support points freely because it has high degree of freedom for several joint as compared with a wheeled robot. Also the robot can create the relative position at desired position between support position and robot. The joint of robot cu used as manipulator. On the contrary the mechanism of robot is complicated to have many joint and moving speed is lower than wheeled robot. Also the legged robot is needed a special control not to fall on the ground because the robot is easy to vibrate when it is moving. The 4 leg structure is the minimum leg numbers not to fall and to realize safety gait continuously. A trot gait is investigated through experiments using a quadruped walking robot named TITAN-VIII.

• Physical Therapy Rehabilitation Science
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• v.10 no.3
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• pp.244-250
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• 2021

Objective: The purpose of this study was to investigate the effect of sprinter pattern bridging exercise using theraband on activation of lower extremity and abdominal muscle and to find out postures that can effectively improve abdominal and lower extremity muscle strength and increase abdominal stability. Methods: This study was designed as a cross-sectional study. The following research was done with applicants attending S university in Seoul to compare the difference in muscle activity between one-leg-Support bridging exercise and sprinter-pattern bridging exercise using theraband. For 48 study participants, we first measured their MVC. Then, we applied one-leg-support bridging exercise and sprinter-pattern bridging exercise at random order. These data were expressed as the percentage of maximal voluntary contraction (%MVC).Electromyography analysis was performed by measuring the external obliques, internal obliques, biceps femoris, and gluteus maximus. Results: There was a statistically significant increment of muscle activity in external and internal oblique muscle(p<0.001)by sprinter-pattern bridging exercise using theraband. On the lower body, statistically significant increment of muscle activity in biceps femoris and gluteus maximus was found(p<0.05). On the other hand, on erector spinae, there was statistically significant decrease in muscle activity(p<0.05). Conclusions: Efficient treatment is expected when sprinter-pattern bridging exercise using theraband is applied clinically.For patients with chronic knee and ankle pain who have difficulty bearing weight, including low back pain and internal rotation of the femur, starting with a low weight bearing, we think it will be helpful in planning systematic training aimed at progressively strengthening the lower extremities.

• Transactions of the KSME C: Technology and Education
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• v.1 no.2
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• pp.153-165
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• 2013

The established gait analysis studies have regarded leg as one single spring. If we can design a knee-ankle actuating mechanism as a primary actuator for supporting knee extension, it might be possible to revolutionary store or release elastic strain energy, which is consumed during the gait cycle, and as a result leg stiffness is expected to increase. An ankle joint actuating mechanism that stores and releases the energy in ankle joint is expected to support and solve excessive artificial leg stiffness caused by the knee actuator (primary actuator) to a reasonable extent. If unnecessary kinematic energy is released with the artificial speed reduction control designed to prevent increase in gait speed caused by increase in time passed, it naturally brings question to the effectiveness of the actuator. As opposed to the already established studies, the authors are currently developing knee-ankle two actuator system under the concept of increasing lower limb stiffness by controlling the speed of gait in relative angular velocity of the two segments. Therefore, the author is convinced that compensatory mechanism caused by knee actuating must exist only in ankle joint. Ankle joint compensatory mechanism can be solved by reverse-examining the change in metatarso-phalangeal joint (MTPJ) tilt angle (${\theta}_1=0^{\circ}$, ${\theta}_2=17^{\circ}$, ${\theta}_3=30^{\circ}$) and the effect of change in gait speed on knee activity.

• Physical Therapy Korea
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• v.2 no.2
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• pp.9-23
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• 1995

The objective of this study was to identify the effects of weight-transfer training on the weight bearing distribution and gait patterns of hemiplegic patients through visual and auditory feedback using a limb load monitor. The subjects of this study were 18 hemiplegic patients who had been hospitalized or were visited out-patient department of the Rehabilitation Hospital, College of Medicine, Yonsei University, from January 5, 1995 through March 15, 1995. Pre-and post-training changes in gait patterns were measured using ink foot prints as well as by recording weight bearing distribution using a limb load monitor. The data were analyzed by the repeated measure one-way ANOVA and paired t-test. The finding were as follows: 1. Prior to the training, 18 subjects bore more weight on the sound leg(61.6 %) than on the affected leg(38.4 %). 2. Posterior to the training, the average percentage of weight bearing on the affected leg increased significantly from 38.4 % prior to training; to 46.0 % immediately after training; 45.7 % after a 30 second delay; and 45.3 % after a 60 second 3. The difference in gait patterns between pre- and post- training was statistically significant, with an increase in gait velocity to 3.65 cm/sec post-training; an increase in stride length to 5.37 cm on the affected side; 4.77 cm on the sound side; and a narrowing of the base of support to 1.19 cm. In conclusion, hemiplegic weight-transfer training using visual and auditory feedback with a limb load monitor was found to be enhancing symmetrical standing posture, and simultaneously improve gait patterns.

• Journal of The Korean Society of Integrative Medicine
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• v.9 no.4
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• pp.85-89
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• 2021

Background : Klippel-Trenaunay-Weber syndrome (KTS) is a rare congenital medical condition characterized by complex vascular malformation. KTS consists of a classic triad of capillary malformation (hemangioma), venous malformations and bone or soft tissue hypertrophy causing limb asymmetry. The aim of this report is to describe management for gait disturbance and foot pain in a Patient with KTS using custom-made total contact insole. Case presentation : A 32-year-old man with KTS presented with a 3-year history of gait disturbance on hard surface due to right first toe pain and Achilles tendon tightness. The patient had soft tissue hypertrophy, varicose veins and port-wine stains over the right lower limb associated with KTS. True leg length discrepancy was 2 cm. We prescribed custom-made total contact insole to protect his deformed foot and correct leg length discrepancy. The insole of right side included wedge shaped heel lift and the insole of left side included full length lift to add extra support on unaffected side. Also, we provided compression stocking and physiotherapy including manual lymphatic drainage for lymphedema and stretching exercise for tightness in right lower extremity. At 3 years follow-up, postural alignment including pelvic obliquity was improved using a custom-made total contact insole. The degree of scoliosis and foot pain were also reduced. Conclusion : An individualized and multidisciplinary approach is essential regarding the complexity of comorbidities in patients with KTS. For patients with KTS, orthotic management should be considered to prevent and correct deformities related to KTS. Active orthotic management, compression stocking and physiotherapy can enhance the quality of life and function in patients.

• Proceedings of the Korean Quaternary Association Conference
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• 2004.06a
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• pp.51-51
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• 2004

As an important contribution to the planed drilling (IODP) in the central part of the Arctic Ocean, we are currently working on a refined chronostratigraphy for Marine Isotope Stage (MIS) 16 to MIS 2 on the exciting material from ODP Site 910A (Leg 151) which has been recovered from the marginal Eastern Arctic Ocean (the Yermak Plateau - the Atlantic/Arctic Ocean Gateway). Several stratigraphic age fix-points support the interpretation of the stable oxygen. isotope record of planktonic foraminifer N, pachyderma sin. that is punctuated by several short-term meltwater events. We believe that our new record will serve as 'the important correlating tool for establishing a basic stratigraphy for the Quaternary Arctic Ocean as well as for generating high-resolution paleoenvironmental reconstructions in the central Arctic Ocean. Furthermore, our study will provide reference stratigraphic data sets for interpreting the micropaleontological, sedimentological and organic / inorganic - geochemical proxies of the new boreholes that will be drilled on the Lomonosov Ridge(Central Arctic Ocean) in the frame of the "Arctic Coring Expedition' (ACEX, IODP) in summer 2004.

• The Journal of Korean Physical Therapy
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• v.1 no.1
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• pp.15-25
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• 1989

The purpose of this study was to determine the factors influencing the standing balance of independent ambulatory hemiparetic patients. The subjects of this study were 30 hemiparetic patients (18 males, 12 females) being treated as admitted or out patients at Severance Hospital Medical Center, all of whom agreed to participate in the study. In order to assure the statistical significance of the results, the paired t-test aid a Pearson's correlation were applied at the .05 level of significance. The results were as follows. 1. The difference in maintenance time of standing balance on a stable and unstable support surface was significant at the .05 level. 2. The difference in maintenance time of standing balance according to the control of visual and acoustic stimuli was significant at the .05 level. 3. The presence or absence of passive joint motion sense influenced the standing balance maintenance time. 4. There was no significant difference in the maintenance standing balance of the sound tower leg standing conditions according to spasticity, but the paretic lower leg standing conditions were significantly different (p<.05). This type of evaluation should be more widely used in the field of evaluating standing balance with hemiparetic patients. However, more extensive study and reports on various factors of standing balance are needed.