• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.675-679
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• 2001

This paper presents walking algorithm for a quadruped robot that does not have an upper body. Tilting motion is added to the planned walking trajectory instead of using an extra body segment that is independent on walking trajectory. Area and tracking algorithms are proposed as tilting method and compared with that of off-line tilting and that of no tilting. Computer simulation shows that stability of tilted walking is more improved than that of the usual walking algorithm for general walking paths. It also shows that the tracking method guarantees stability and best mobility.

• Physical Therapy Korea
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• v.30 no.1
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• pp.59-67
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• 2023

Background: Posterior capsule tightness (PCT), commonly seen in overhead athletes, is a soft tissue adaptation that is also noted in non-throwers. PCT is associated with scapular and humeral kinematic alterations, significant restriction of shoulder internal rotation (IR) range of motion (ROM), and significant scapular anterior tilting. Sleeper and cross-body stretches (CBS) are suggested for PCT and IR deficits, and have been modified since introduction. A novel modified sleeper stretch (NMSS) was designed in this study to prevent the risk of anterior translation of the humeral head. Though the effects of posterior shoulder stretching exercise have been widely studies, to the best of our knowledge, no previous studies have investigated the effectiveness of posterior shoulder exercises in decreasing scapular anterior tilting. Objects: To compare the immediate effects of two posterior shoulder stretching exercises (NMSS and CBS) on scapular anterior tilting and shoulder IR ROM. Methods: Thirty-two subjects with anteriorly tilted scapula and IR deficits [mean age: 24.3 ± 2.5 years; 15 males and 17 females] participated in this study. Subjects were randomly assigned to either the NMSS or CBS groups. Scapular anterior tilting (at rest and at shoulder 60° active IR) and shoulder IR ROM were measured before and immediately after intervention. Results: Scapular anterior tilting significantly decreased, while the shoulder IR ROM significantly increased in both groups. However, there was no significant group-by-time interaction effect or significant difference between the groups. Conclusion: Both stretching exercises were effective in restoring shoulder IR ROM and decreasing scapular anterior tilting.

• The Journal of Korean Physical Therapy
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• v.33 no.1
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• pp.47-52
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• 2021

Purpose: Biofeedback using various ways has helped correct the sitting posture. This study compared the multifidus muscle activity, pelvic and 2nd sacrum tilting angle during typing in nonspecific lower back pain (NCLBP) subjects with and without visual biofeedback. Methods: Thirty subjects with NCLBP were enrolled in this study. An electromyography device was used to measure the multifidus muscle activity. An electromagnetic tracking motion device was used to measure the pelvic and 2nd sacrum tilting angle. The multifidus muscle activity, pelvic, and 2nd sacrum tilting angle were measured before and after typing for 30 minutes in the sitting position. An independent t-test was used to compare the changing values for 30 minutes between the group with and without visual biofeedback. Results: The changing values of the multifidus muscle activity, pelvic, and 2nd sacrum tilting angle were significantly smaller in the group with visual biofeedback than the group without visual biofeedback (p<0.05). Conclusions: In subjects with NCLBP, the visual biofeedback can be recommended to maintain the multifidus muscle activity, pelvic, and 2nd sacrum tilting angle during typing for 30 minutes.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2003.11a
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• pp.281-288
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• 2003

In this paper, seismic responses of large tilting pad journal bearings which have $3\~5$ tilting pads were numerically analyzed. The turbulent lubrication equation, the energy equation and motion equation were solved at each time step. The regime of operation of this bearing is laminar, turbulent and transitional. Also viscosity of working fluid was considered as function of only temperature and inlet pressure build-up was considered. Numerical results for a large tilting pad journal bearing showed journal center, maximum temperature, maximum pressure, friction torque. The relationship of bearing response and seismic intensity are discussed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.986-992
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• 2014

This research investigates experimentally and numerically the tilting angle, eccentricity ratio, flying height of axial direction, friction torque, and critical mass of the HDD disk-spindle system due to HDD positioning angle. The tilting angle and the eccentricity ratio are the maximum when the HDD positioning angle is $90^{\circ}$ respect to horizontal position because the external force in radial direction and the torque applied to the rotating part are the maximum when the HDD positioning angle is $90^{\circ}$. The flying height increases with the increase of the HDD positioning angle because the direction of gravity applied to the rotating part changes. The friction torque increases with the increase of the HDD positioning angle until it becomes $60^{\circ}$, and decreases with the increase of the HDD positioning angle after it becomes $60^{\circ}$. The stability is the maximum when the HDD positioning angle is $90^{\circ}$.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.216-223
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• 2010

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

• Physical Therapy Korea
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• v.21 no.4
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• pp.49-55
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• 2014

Excessive lumbar flexion during sit-to-stand (STS) is a risk factor for lower back pain. Postural taping can prevent unwanted flexion of the lumbar spine. This study aimed to demonstrate the effect of taping the lower back on the lumbopelvic region and hip joint kinematics during STS. Sixteen healthy subjects participated. All subjects performed the STS with and without taping of the lower back. A three-dimensional motion analysis system was used to measure the kinematics of the lumbar spine, pelvis, and hip joint during STS. The angle of the peak lumbar flexion, pelvic anterior tilting, and hip flexion and angular displacement of the lumbar spine between starting position and maximal lumbar flexion were collected. Paired t-tests, or Wilcoxon's rank-sum test for non-parametric distribution, were used to assess differences in the measurements with and without taping. A p-value <.05 was taken to indicate a significant difference. Significant differences were observed in the angle of the peak lumbar flexion, pelvic anterior tilting, hip flexion and angular displacement of the lumbar spine (p<.05). Taping was associated with a significant decrease in the angle of peak lumbar flexion and angular displacement of the lumbar spine between the starting position and maximal lumbar spine flexion. In addition, the peak angle of pelvic anterior tilting and hip flexion were significantly increased with taping. The findings of this study suggest that taping the lower back can decrease excessive lumbar flexion, and increase the pelvic anterior tilting and hip flexion motion during STS.

• Journal of KSNVE
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• v.7 no.3
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• pp.393-399
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• 1997

This study proposes a methodology with which the optimal damper positions of the feeding system in a CD-ROM drive are determined to removal the harmful tilting vibration modes. For this purpose, vibration characteristics of the feeding system are identified by a theoretical modeling as well as vibration experiments. We perform the modal testings using the impact hammer and shaker; furthermore, we establish a vibration model due to the rigid-body motion. The analysis and experiments show that the feeding system has three rigid-body vibration modes in the low-frequency region and two of them come from the tilting modes. We show that the tilting modes can be removed by determining the damper positions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.64-70
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• 2018

Rollover is a major concern for vehicles with a higher center of gravity and for improving driving performance. This study investigates a tilting system to prevent rollover, which was successfully implemented for high-speed trains. It may be useful to apply the concept of the tilting system to a large truck such as a trailer. Even a small adjustment in the tilting angle can improve the driving stability during a steep turn. The equation of motion was derived from a dynamic model of the trailer with the tilting system. The balance of the centrifugal force and normal force determines the rollover critical speed for a given radius of the turn and load. To obtain a more conservative criterion, the rollover critical state was defined as the instant when any side wheel loses contact with the road. To actuate the tilting system, the optimal tilting angle must be calculated from the steering angle and the vehicle speed. Using a simplified model of a large truck, the effects of the tilting angle and load on the rollover critical speed were investigated.

• Physical Therapy Korea
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• v.19 no.1
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• pp.19-27
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• 2012

The purpose of this study was to determine the effect of contralateral hip adduction (CHA) on thickness of lumbar stabilizers during hip abduction in side-lying. Twenty healthy subjects without back pain were recruited for this study. The thickness of transverse abdominis (TrA), internal oblique (IO) and quadratus lumborum (QL) were measured by ultrasonography. Pelvic lateral tilting motion was measured using a three-dimensional motion analysis system. Measurements were performed at rest position (RP), $35^{\circ}$preferred hip abduction (PHA) and $35^{\circ}$abduction with $10^{\circ}$contralateral hip adduction (CHA) in side-lying at the end of expiration. During the measurements, subjects were asked to maintain steady trunk alignment without hand support. Thickness of TrA and IO was significantly greater in CHA than in PHA and RP conditions. There was no significant difference in thickness of TrA and IO between PHA and RP conditions. Medio-lateral (M-L) thickness of QL was not significant between PHA and CHA conditions. Anterio-posterior (A-P) thickness of QL in PHA and CHA significantly decreased compared to RP condition. Angle of pelvic lateral tilting was significantly decreased in CHA compared to PHA condition. In conclusion, CHA can be recommended for increasing trunk stability without compensatory pelvic motion during hip abduction exercise in side-lying.