• ETRI Journal
• /
• v.40 no.4
• /
• pp.511-521
• /
• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• Proceedings of the KIEE Conference
• /
• 2011.07a
• /
• pp.1918-1919
• /
• 2011

상체 지원 외골격 로봇은 크게 인간의 근력을 보조하는 형태와 인간의 근력을 증강하는 형태가 있다. 여기서는 인간의 근력을 증강하는 외골격 로봇을 중심으로 기술하고자 한다. 이러한 외골격 로봇은 팔의 EMG (Electromyograph;근전도) 신호를 측정하는 방법보다는 손의 힘을 직접 감지하는 방법을 통한 팔꿈치와 어깨의 엑추에이터를 구동하는 방식을 취하는 경향이 있다. 본 논문에서도 후자의 방식을 이용하여 손에 작용하는 힘을 분석하여 외골격 로봇을 움직이는 방식을 취하였다. 손의 힘 중에서도 인간을 중심으로 볼 때 위방향과 전진방향의 힘을 분석하기 위하여 2개의 F/T(Force/Torque) 센서를 사용하였으며 팔을 벌리는 동작은 엑추에이터 없이 자유롭게 동작이 가능하도록 설계하였다. 이러한 위방향 및 전진방향 힘의 크기를 팔꿈치와 어깨의 엑추에이터의 동작으로 바꾸어 인간의 동작을 도울 수 있고 힘을 증폭할 수 있는 외골격 로봇을 설계 제작하였다. F/T 센서는 손의 힘을 전기적 신호로 바꾸어주는 로드셀로 이루어지며 손의 힘을 최대한 잘 반영하기 위한 구조를 고안하였다. F/T 센서의 전기신호는 증폭기를 거쳐서 잡음을 제거한 후에 A/D 변환하여 processor에서 처리되어진다.

• Journal of Chest Surgery
• /
• v.38 no.3 s.248
• /
• pp.245-248
• /
• 2005

Drugs containing ergotamine are widely used in the treatment of migraine. Spastic vasoconstriction is one of the most serious side effects even with recommended dosage. We report a case of 63-year-old male with severe arterial occlusion of the upper limbs which might be related with vasospasm caused by ergotamine-containing medication because of migraine for f5 years. He was treated with bypass graft, sympathicotomy and heparin and prostaglandin E1 infusion. But dramatic clinical reversal of the vasospasm was obtained after withdrawal of ergotamine.

• Journal of Biomedical Engineering Research
• /
• v.28 no.1
• /
• pp.139-147
• /
• 2007

The aim of this study was to evaluate effects of short-tenn repetitive-bilateral excercise on the activation of motor network using functional magnetic resonance imaging (fMRI). The training program was performed at 1 hr/day, 5 days/week during 6 weeks. Fugl-Meyer Assessments (FMA) were performed every two weeks during the training. We compared cerebral and cerebellar cortical activations in two different tasks before and after the training program: (1) the only unaffected hand movement (Task 1); and (2) passive movements of affected hand by the active movement of unaffected hand (Task 2). fMRI was performed at 3T with wrist flexion-extension movement at 1 Hz during the motor tasks. All patients showed significant improvements of FMA scores in their paretic limbs after training. fMRI studies in Task 1 showed that cortical activations decreased in ipsilateral sensorimotor cortex but increased in contralateral sensorimotor cortex and ipsilateral cerebellum. Task 2 showed cortical reorganizations in bilateral sensorimotor cortex, premotor area, supplemetary motor area and cerebellum. Therefore, this study demonstrated that plastic changes of motor network occurred as a neural basis of the improvement subsequent to repetitive-bilateral excercise using the symmetrical upper-limb ann motion trainer.

• Journal of Nutrition and Health
• /
• v.26 no.1
• /
• pp.76-88
• /
• 1993

Maternal body weight, skinfold thickness and circumference measurements were examined in 23 lactating women and 10 nonlactating women longitudinally from 1 week to 12 weeks postpartum. The dietary intakes of Korean lactating and nonlactating women were measured by 24-hour recall method and effects of maternal energy intake on body weight change were analyzed by Pearson correlation. The mean daily energy intake of breast-feeding(BF, n=12), combination of breast and formula-feeding (CF, n=11), and formula-feeding (FF, n=10) mothers were 1941kcal, 187kcal and 1727kcal, respectively. A significant decrease in weight was observed at all group. Weight losses at 12 weeks of postpartum in BF, CF and FF motheres were 3.18kg, 3.91kg and 5.15kg respectively. Weight losses increased as calorie intake decreased (${\gamma}$2=0.3803, p<0.05). The skinfold thickness and circumferences on all regions were decreased significantly except triceps and upper arm circumferences. However, there were no significant differences between lactating and nonlactating women. Anthropometric measurements decreased at the trunk but not at the limbs. Weight change was significantly correlated with changes of the scores for proximal circumference (${\gamma}$2=0.4999, p<0.05). There results suggest that lactation does not promete weight loss in well-nourished women and that the Korean RDA for energy in lactation may be too high.

• Proceedings of the KIEE Conference
• /
• 2001.11c
• /
• pp.87-90
• /
• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• Journal of Korean Critical Care Nursing
• /
• v.9 no.2
• /
• pp.13-25
• /
• 2016

Purpose: This study was conducted to identify changes in limb circumferences among patients admitted to the intensive care unit (ICU) and related factors. Methods: We conducted a prospective observational study with 27 patients from 3 ICUs at a university hospital located in B city of Korea, from September 1 to October 30, 2015. The circumferences of the left and right upper arms, thighs, and lower legs were measured on the first, third, fifth, and seventh days of ICU admission. Information on the related factors was collected from the medical records. The data were analyzed using a linear mixed model method. Results: The limbs circumferences significantly reduced from day 3, and the changes continued till day 7. These changes were related to the gender of the subjects, restraints application, use of steroids, and continuous renal replacement therapy. Conclusions: Based on the above results, it can be concluded that ICU-acquired weakness begins before the third day of admission. Thus, early mobilization protocols for ICU patients need to be developed and implemented in order to improve long-term outcomes.

• The Journal of Korean Medicine Ophthalmology and Otolaryngology and Dermatology
• /
• v.28 no.1
• /
• pp.134-142
• /
• 2015

Objective : This study was carried out to find out the effect of Korean medical treatments on tinea pedis with id reaction. Method : We treated a 33-year-old man was afflicted with tinea pedis complicating id reaction with herbal medicine, acupuncture, ointment, wet-dressing and steam treatment. After treatments, we measured the status of scales, fissures and the degree of pruritus. We followed up symptom changes by taking pictures and compared before and after. Result & Conclusion : Three days after admission, erythema occurred at upper and lower limbs and the degree of pruritus increased by id reaction. As tinea pedis improved, id reaction decreased, too. Consequently, both sites of primary lesions of tinea pedis and secondary id reactions were significantly improved, and accompanied symptoms were resolved simultaneously.

• Korean Journal of Applied Biomechanics
• /
• v.25 no.3
• /
• pp.301-309
• /
• 2015

Objective : The purpose of this study was to describe the correlation between the activity of the muscles of upper and lower limbs of a golf driver swing according to shoulder injury. Method : The subjects were 18 professional golfers (7 male in KPGA and 11 female in KLPGA). Using surface electromyography, we evaluated muscle activities during the golf drive swing. Surface electrodes were used to record the level of muscle activity in the left Deltoid(MD), Triceps Brachii(TB), Pectoralis(PM), Trapezius(UT), Rectus Femoris(RF), Vastus Medialis Obilique(VMO), Biceps Femoris(BF), Gastrocnemius(GCM) muscles during the golfer's swing. The golf swing was divided into five phases: take away, forward swing, acceleration, early follow through, late follow through. Results : The results can be summarized as follows: MD, VMO had statistically significant difference in take away phases, GCM had statistically significant difference in acceleration phases, MD, PM, VMO had statistically significant difference in early follow through phases, PM had statistically significant difference in late follow through phases, Conclusion : Muscle activity of the 8 muscles(Deltoid, Triceps Brachii, Pectoralis, Trapezius, Rectus Femoris, Vastus Medialis Obilique, Biceps Femoris, Gastrocnemius) along the shoulder damage or absence of has shown that they are organically connected to each of the phases.

• Journal of the Korean Home Economics Association
• /
• v.41 no.11
• /
• pp.73-80
• /
• 2003

The purpose of this study is to demonstrate the actual somatotype and perceptual somatotype, and to compare actual somaotype with ideal somatotype, and to explore segmentation based on perception of slim/obese somatotype. The respondents included 201 female student volunteers, aged 19 to 27, who were enrolled at university in Busan. Data were analyzed by paired t-test, correlation analysis, cluster analysis, and ANOVA. The results were as follows; The subjects tended to be satisfied with long and slim, slim limbs, and preferred to be tall in height and light in weight. And perceptual somatotype was related to satisfaction of somatotype. Cluster analysis was female college students to identify groups of respondents based on the perception of somatotype(all the body, the upper half of the body, the lower half of the body)difference factors. Based on the finding, three distinct groups were formed: slim tendency group, moderators tendency group, obese tendency group. There were a significant among slim tendency group, moderators tendency group, and obese tendency group base on the perceptual somatotype. There were significant differences among the three groups in terms of perception of somatotype and satisfaction of somatotype.