• Journal of the Institute of Convergence Signal Processing
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• v.8 no.3
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• pp.149-155
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• 2007

In this paper, we propose an real-time implementation of JPEG2000 codec on the ARM9 processor. The implemented codec is designed to separate control codes from data management codes in order to use effectively the system resources such as processor and memory. Especially, in embedded situations like cellular phones it is very important to provide good services using limited processor and internal memory. Since ARM9 series processors do not provide floating-point, large amount of computational time is required to perform the operation which needs highly repetitive floating-point computations like DWT(discrete wavelet transform). The proposed codec was programed using fixed-point to overcome this weakness. Also code optimization considering cache memory was applied to further improve the computational speed.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.188-196
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• 2006

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• Physical Therapy Korea
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• v.27 no.1
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• pp.11-18
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• 2020

Background: As technology has progressed, various robot-assisted devices have been developed to reduce therapists' labor and assist in therapy. However, due to their many limitations, it is more practical to use traditional mechanical devices. The grahamizer is one such traditional mechanical device used clinically to rehabilitate the upper extremities. No study has yet established the efficacy of the grahamizer in individuals with stroke. Objects: This study investigated the immediate change in arm reaching after the use of a grahamizer. Methods: Twenty-two stroke survivors participated in this study (11 males and 11 females). The reaching of the more-affected arm was measured three times using the three-dimentional electromagnetic motion tracking system "trakSTAR". After the first measurement, the subjects performed 500 rotatory arm exercises using the grahamizer. To assess the grahamizer's effect, the subjects were remeasured in the same way. Results: There were significant increases in the reaching distance (p < 0.05) and movement smoothness (p < 0.05) of the more-affected arm after using the grahamizer. Conclusion: Our study confirms that using the grahamizer is beneficial in the rehabilitation for improving movement of the more-affected arm in stroke survivors.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.3
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• pp.2140-2146
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• 2020

Background: Stroke patients exhibit arm global synkinesis (GS), involuntary movement due to muscle weakness and irregular muscle tension. But currently there are few studies examined the effects of GS on activates of daily living in stroke patients. Objectives: To investigate the effects the effects of task-oriented bilateral movements, which promote brain plasticity and are based on neurological theory, using the unaffected arm and the affected arm. Design: Quasi-randomized trial. Methods: Twenty stroke patients were randomly assigned to experimental group I (n=10) and experimental group II (n=10). Before the intervention, arm GS was measured using surface electromyography, and the Motor Activity Log evaluated the quantitative and qualitative uses of the affected arm in daily life. The same items were measured four weeks later. Results: The changes in the GS of the arm of experimental group I showed statistically significant differences only in bending motions (P<.05). Both groups showed statistically significant differences in the amount of use (AOU) and the quality of movement (QOM) scores (P<.01). Comparing the groups, statistically significant differences in GS appeared during bending motions (P<.05), and in the AOU (P<.01) and the QOM scores (P<.05). Conclusion: The intervention in GS reduced the abnormal muscle tension of the affected side by increasing the use of the ipsilateral motor pathway, indicating its effectiveness in improving upper limb functions with smooth contraction and relaxation of the muscles.

• PNF and Movement
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• v.17 no.3
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• pp.421-429
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• 2019

Purpose: This study evaluated the relationship between pelvic pressure and irradiation of the proprioceptive neuromuscular facilitation (PNF) upper arm pattern exercises with an elastic band while in a sitting position. Methods: Fourteen subjects with asymptomatic pelvic pressure participated in this study. Pelvic pressure was measured using a Gaitview® system while sitting and performing PNF bilateral upper arm patterns. Resistance strength was provided by the blue elastic band. The statistical significance of the results was evaluated using a repeated one-way ANOVA and the independent t-test. The Bonferroni method was used for the post-hoc test. Results: The results revealed a significant change in the pelvic pressure when performing the PNF arm pattern. The average resistance pressure on the pelvis, with the elastic band, significantly increased after the initial sitting position (F=3.91, 3.92; p<0.05). No significant pelvic pressure changes were noted for each PNF upper arm pattern (p>0.05). Conclusion: The results of this study showed a positive relationship between pelvic pressure and the irradiation of PNF upper arm pattern exercises with resistance in the sitting position.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.1
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• pp.1734-1738
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• 2019

Background: Stroke patients usually have arm weakness, which affects trunks and arms. Objective: To investigate the effects of paretic side and non-paretic side arm training on trunk control and upper limb functions. Design: Randomized Controlled Trial (single blind). Methods: Twenty patients with stroke in hospital were enrolled in the study. Twenty subjects were randomly assigned to paretic side arm training group (PATG, n = 10) or non-paretic side arm training group (NATG, n = 10). Trunk impairment scale (TIS) was used for trunk control, and box and block test (BBT) was used for upper limb function. Training was conducted for 4 weeks. Results: PATG showed significant difference in TIS (static balance, dynamic balance, coordination, total score) and BBT. NATG showed significant differences in static balance, and dynamic balance and total score except for coordination and BBT. PATG also showed a more significant difference in BBT and coordination and total score than NATG. Conclusions: The arm training performed on the paretic side are more effective than those performed on the non-paretic side in improving both upper limb function and trunk control in stroke patients.

• Journal of Korean Physical Therapy Science
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• v.26 no.2
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• pp.46-50
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• 2019

Background: The purpose of present study is to effect of arm swing on uphill road gait in healthy adults. Design: Cross-sectional study. Methods: This study was Participated in 15 healthy subjects. The subjects were allowed to walk uphill, about 10m from the line drawn on the floor. The subject stood at the starting line and started by pressing the start button with the signal "start", and I pressed Stop at the last incoming point. Walking with and without arm swing was measured twice in random draws. Results: Walking path with arm swing showed good results in walking path duration, cadence, speed, stride length, and Gait cycle duration rather than uphill walk without arm swing. Conclusion: As a results of this study, The arm swing is important in getting uphill.

• PNF and Movement
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• v.12 no.3
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• pp.173-179
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• 2014

Purpose: The purpose of this study is to analyze the effect of arm leg flexion patterns of proprioceptive neuromuscular facilitation on the muscle activation of the contralateral lower extremity. Methods: In this study, Electromyogram MP150(Biopac system, USA) was applied to 20 healthy male subjects. Unilateral arm flexion- abduction- external rotation pattern and Unilateral leg flexion- adduction- external rotation with knee flexion pattern were applied within mid range of the supine position for measurement. The muscle activation of vastus lateralis, biceps femoris, tibialis anterior and gastrocnemius(medialis) muscle of the contralateral lower extremity were compared and analyzed during the applications. Results: The results of this study were summarized as follows: There was a statistically significant difference in the muscle activation of vastus lateralis and biceps femoris between the arm and leg patterns(P<0.05). There was a statistically significant difference in the muscle activation of gastrocnemius and tibialis anterior between the arm and leg patterns(P<0.05). Conclusion: contralateral vastus lateralis, biceps femoris, gastrocnemius and tibialis anterior muscles show the higher muscle activation in the leg pattern than one in the arm pattern.

• Journal of Drive and Control
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• v.17 no.4
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• pp.31-37
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• 2020

We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of 'as if the operator's arm is moving' was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.