• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Physical Therapy Korea
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• v.23 no.2
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• pp.84-92
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• 2016

Background: Strengthening the supraspinatus is an important aspect of a rehabilitation program for subacromial impingement and tendinopathy. Many authors recommended empty-can (EC), full-can (FC), and prone full-can (PFC) exercises to strengthen the supraspinatus. However, no ultrasonography study has yet investigated supraspinatus muscle architecture (muscle thickness; MT, pennation angle; PA, fiber bundle length; FBL) in relation to supraspinatus strengthening exercises. Objects: The purpose of this study was to compare the architecture (MT, PA, and FBL) of the supraspinatus muscle during three different types of exercises (EC, FC, and PFC) using diagnostic ultrasound. Methods: Participants performed three different exercises: (A) EC; the arm was maintained at $60^{\circ}$ abduction with full internal rotation in the sitting position, (B) FC; the arm was maintained at $60^{\circ}$ abduction with full external rotation in the sitting position, and (C) PFC; the arm was maintained at $60^{\circ}$ abduction with full external rotation in the prone position. Ultrasonography was used to measure the MT, PA and FBL of the supraspinatus. One-way repeated analysis of variance with Bonferroni's post-hoc test was used to compare between the three exercises and the initial position of each exercise. Results: Compared with each initial position, the FC exercise showed the greatest mean difference in muscle architecture properties and the PFC exercise showed the least mean difference. Conclusion: The findings suggest that the FC exercise position may have an advantage in increasing the amount of contractile tissue or producing muscle power and the PFC exercise position may be useful in a rehabilitation program because it offers the advantage of maintaining the muscle architecture properties.

• Physical Therapy Korea
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• v.19 no.4
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• pp.38-45
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• 2012

The aim of this study is to compare the effect of abdominal drawing-in maneuver (ADIM) on lower trapezius (LT), serratus anterior (SA), and erector spinae (ES) muscle activity during arm lifts in prone and standing positions. Twenty healthy subjects were recruited, and NoraxonTeleMyo 2400T was used to collect electromyographic signals from the LT, SA, and ES muscles. A two-way repeated analysis of variance (ANOVA) used a significance level of .05. If a significant interaction was found, pairwise comparisons were performed with a Bonferroni adjustment (.05/4=.013). The results of the study were as follows: 1) In LT, no significant ADIM by position interaction was found ($F_{1,19}$=.356, p=.558). There was a significant main effect for ADIM. LT muscle activity with ADIM was significantly greater compared with muscle activity without ADIM ($F_{1,19}$=82.863, p<.001). There was also a significant main effect for position. LT muscle activity in the prone position was greater compared with muscle activity in the standing position ($F_{1,19}$=116.401, p<.001). 2) In SA, significant ADIM by position interaction was found ($F_{1,19}$=8.687, p=.008). There were significant differences in all pairwise comparisons. The greatest SA muscle activity was observed in the standing position with ADIM. 3) In ES, significant ADIM by position interaction was found ($F_{1,19}$=122.473, p<.001). The lowest ES muscle activity was elicited in the standing position with ADIM. Based on these results, ADIM is advocated in the prone position to increase LT muscle activity. In addition, it is concluded that arm lifts in the standing position with ADIM offer the most favorable combination for reducing ES muscle activity and increasing SA muscle activity.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.2
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• pp.152-158
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• 2009

In this paper, the right arm was modelled by muscle-skeleton elements to obtain the behavior of right arm of human under impact condition, where physical and geometrical properties of human body such as Young's modulus, shear modulus, cross sectional area, length, density, moment of inertia and position were defined. Based on the numerical model of the right arm, the impact response of the right arm was obtained. By the comparison with the experimental results, the model of the right arm was verified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.345-348
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• 1997

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effecter of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.136-146
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• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• Journal of Korean society of Dental Hygiene
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• v.3 no.1
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• pp.73-87
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• 2003

This study was performed on 17 female dental hygienists to find an appropriate method to reduce the hygienists' body discomfort while scaling, and provide a foundation to educate them how 10 posture during the process. To assess the arm abduction, elbow flexion, neck flexion, trunk flexion and trunk lateral bending through Video 2D(two dimensional motion) analysis and assessing the risk through the Action level of RULA(rapid upper limb assessment) checklist, an ergonomic analysis method. Correlation analyses on the posture angles and on body discomfort were performed. ANOVA analysis on scaling treatment position and the scaling treatment region of patients was also performed. The results are as following. 1. 20 analysis while scaling, arm abduction was $40{\sim}79.9^{\circ}$, elbow flexion $20{\sim}110^{\circ}$, neck flexion $50{\sim}100^{\circ}$, trunk flexion $60{\sim}80^{\circ}$, and trunk lateral bending $5{\sim}19.9^{\circ}$. 2. The Action level of RULA was 2. 3 resulted from scores 4 and 5 of group A which includes upper arm, lower ann, wrist, and scores 2 and 4 of group B which includes neck, trunk, legs. It means that the scaling treatment posture causes a high incidence rate of musculoskeletal that an additional investigation and improvement should be followed without hesitation. 3. There were significant differences among the maxilla right, maxilla anterior, maxilla left, mandible left, mandible anterior, and mandible right of a patient of the right and left upper arm, lower arm, neck, trunk, group A, group B, final RULA score while scaling treatment. 4. There were significant differences among the time position of 8, 9, 10, 11, 12, 13 of the right and left upper arm, lower arm, neck, trunk, group A, group B, final RULA score while scaling treatment, 5. As for the body discomfort, neck, right shoulder, left shoulder, right back, right wrist etc. were listed on top. As a conclusion, performing the time position of 12 which shows low right and left final RULA scores is better than the time position of 8 and 10 which show high final RULA scores to reduce the body discomfort while scaling treatment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.505-506
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• 2007

• Journal of the Korean Society of Radiology
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• v.8 no.2
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• pp.75-79
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• 2014

The aim of this retrospective research was to investigate the influence of the patient's arm position on radiation dose and scanning during CT. Chest CT image created image degradation, artifact and overdose to the patient due to the difference of the chest thickness. Therefore, the patient's arm should up position during the CT chest examination. In 2012, 1,642 patients underwent chest CT examination in Seoul K hospital. 118 chest CT examination performed hands down position. The average DLP value of the CT chest arm up examination was 275 $mGy{\cdot}cm$. The average DLP value of the CT chest arm down examination was 312.46 $mGy{\cdot}cm$. In the retrospective study with same patient, The average DLP value of the CT chest examination arm up vigorously was 267.5 $mGy{\cdot}cm$. The average DLP value of the CT chest arm down examination was 307.5 $mGy{\cdot}cm$. Chest CT scan without raising arm created linear artifact due to the lack of X-ray photons which is the thickest part of the human body of shoulder area. In conclusion, arm positioning patients' arms above the shoulders at CT of the chest increases image quality and substantially reduces effective radiation dose.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1243-1251
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• 2007

In this paper a study on the simplified observability analysis of GPS/INS is introduced. Errors for the position, velocity, attitude, gyro and accelerometer biases, and lever arm between GPS antenna and inertial sensors are considered in the observablity analysis. From the error dynamics model in which relatively small terms are neglected, simple observability conditions are obtained such that the observability of GPS/INS is determined by the test on the attutude, gyro bias, and lever arm. Unobservable errors for the position, velocity, and accelerometer bias are determined by those for the attitude, gyro bias, and lever arm. The simplified observability conditions are applied to a constant speed horizontal motion. It is shown that there are seven unobservable modes for the motion including the vertical component of gyro bias. The analytic observability analysis results are confirmed with a covariance simulation.