• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.3
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• pp.206-212
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• 2015

This paper proposes the physical human-robot interaction method that controls the robot arms using ITO touch panel sensor as the skin of robot. To implement physical human-robot interaction, the method of using the force/torque sensor and the method of using tactile sensor created by arranging small element type of sensor have been studied. However, these sensors have the pros and cons in terms of price and performance. This study aims to demonstrate the economy of element type sensor and the accuracy of force/torque sensor through experiment by proposing the method of physical interaction using the touch panel as the skin of robot, and by constructing overall system. The experiment was carried out for the method of controlling the robot arm by installing end-effecter and the method of controlling robot arm by creating the gesture with reference point on the touch panel. Through this experiment, the possibility of teaching control using the touch panel was confirmed.

• The Journal of Korean Medicine
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• v.18 no.1
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• pp.25-39
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• 1997

Shoulder hand syndrome is characterized by pain, vasomotor instability, and tenderness, mainly in the distal upper extremity. The pathophysiologic mechanism of this syndrome is not yet proved. The purpose of this study is to evaluate the usefulness of thermographic imaging on shoulder hand syndrome after stroke for early diagnosis and its clinical pattern analysis including acupuncture and electroacupuncture therapy. This study was performed from June to September in 1996 on 46 stroke patients who were admitted at Oriental hospital of Kyung Hee Medical Center. The study group were 23 patients with shoulder hand syndrome. The control group were 23 patients without shoulder hand syndrome. Skin temperatures on the both upper extremities were measured by Digital Infrared Thermographic Imaging(D.I.T.I.) before the study and 3 weeks later again. The results were as follows; 1. The shoulder hand syndrome group were significantly more restricted in shoulder passive range of motion than the control group. 2. The shoulder hand syndrome group showed significant temperature difference of both dorsal hands. 3. The electroacupunture therapy group were significantly more improved on the temperature difference of both dorsal hands than acupuncture therapy group in 3 weeks later. 4. Both posterior arms showed the biggest temperature difference from 11 to 30 days in shoulder hand syndrome group. 5. The lesser passive ROM(range of motion) of shoulder group showed significantly increased temperature difference of both hands. The above results show that measurement of shoulder passive range of motion and D.I.T.I. is a useful method for early diagnosis on shoulder hand syndrome and its clinical pattern analysis including evaluation of acupuncture and electroacupuncture therapy. Continuous study will be needed for more clinical application and evaluation on shoulder hand syndrome.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.9
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• pp.1077-1082
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• 2011

Ball joint is a rotating and swiveling element that is typically the interface between two parts. In an automobile, the ball joint is the component that connects the control arms to the steering knuckles by playing a role of bearing. The ball joint can also be installed in linkage systems for motion control applications. This paper describes the simulation strategy for a ball joint analysis, considering manufacturing process. Its manufacturing process can be divided into plugging and spinning. Then, the interested response is selected as the stress distribution generated between its ball and bearing. In this paper, a commercial code of NX DAFUL 2.0 using an implicit integration method is introduced to calculate the response. In addition, the gap analysis is performed to investigate the fitness. Also, the optimum design is suggested through case studies.

• Asian Pacific Journal of Cancer Prevention
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• v.14 no.1
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• pp.589-594
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• 2013

Background: Prospective cohort studies to determine cofactors with oncogenic HPV-infections for cervical cancer are very rare from developing countries and such data are limited to the few screening trials. Large screening trials provide such data as a by product. Some of the cases are prevented by screening and do not surface as invasive cancers at all. Also, pre-invasive lesions are detected almost entirely by screening. Screening causes selection bias if attendance in or effectiveness of screening is correlated with the risk factors. The aim of this study was to quantify the influence of screening on risk factors for cervical cancer. Materials and Methods: Our material stems from a rural cohort of 80,000 women subjected to a randomised screening trial. The effect of screening on the incidence of cervix cancer was estimated with reference to socio-demographic and reproductive risk factors of cervical cancer. We compared these risks with the incidence of cancer in the randomised control population by the same determinants of risk. Results: The results in the screening arm compared to the control arm showed that the women of low SES and young age were benefitting more than those of high SES and old age. The relative risk by age (30-39 vs 50-59) was 0.33 in the control arm and 0.24 in the screening arm. The relative risk by education (not educated vs educated) was 2.8 in the control arm and 1.8 in the screening arm. The previously married women did not benefit (incidence 113 and 115 per 100,000 women years in control vs screening arms) whereas the effect was substantial in those married (86 vs 54). Conclusions: The results in controls were consistent with the general evidence, but results in attenders and nonattenders of the screening arm showed that screening itself and self-selection in attendance and effectiveness can influence the effect estimates of risk factors. The effect of cervical cancer screening programmes on the estimates of incidence of cervical cancer causes bias in the studies on etiology and, therefore, they should be interpreted with caution.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.8
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• pp.3877-3880
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• 2016

Nausea and vomiting are among the most serious side effects of chemotherapy, in some cases leading to treatment interruption or chemotherapy dose reduction. Ginger has long been known as an antiemetic drug, used for conditions such as motion sickness, nausea-vomiting in pregnancy, and post-operation side effects. One hundred and fifty female patients with breast cancer entered this prospective study and were randomized to receive ginger (500 mg ginger powder, twice a day for 3 days) or placebo. One hundred and nineteen patients completed the study: 57 of them received ginger and 62 received ginger for the first 3 chemotherapy cycles. Mean age in all patients was 48.6 (25-79) years. After 1st chemotherapy, mean nausea in the ginger and control arms were 1.36 (${\pm}1.31$) and 1.46 (${\pm}1.28$) with no statistically significant difference. After the $2^{nd}$ chemotherapy session, nausea score was slightly more in the ginger group (1.36 versus 1.32). After $3^{rd}$ chemotherapy, mean nausea severity in control group was less than ginger group [1.37 (${\pm}1.14$), versus 1.42 (${\pm}1.30$)]. Considering all patients, nausea was slightly more severe in ginger arm. In ginger arm mean nausea score was 1.42 (${\pm}0.96$) and in control arm it was 1.40 (${\pm}0.92$). Mean vomiting scores after chemotherapy in ginger arm were 0.719 (${\pm}1.03$), 0.68 (${\pm}1.00$) and 0.77 (${\pm}1.18$). In control arm, mean vomiting was 0.983 (${\pm}1.23$), 1.03 (${\pm}1.22$) and 1.15 (${\pm}1.27$). In all sessions, ginger decreased vomiting severity from 1.4 (${\pm}1.04$) to 0.71 (${\pm}0.86$). None of the differences were significant. In those patients who received the AC regimen, vomiting was less severe ($0.64{\pm}0.87$) comparing to those who received placebo ($1.13{\pm}1.12$), which was statistically significant (p-Value <0.05). Further and larger studies are needed to draw conclusions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.2
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• pp.434-439
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• 2021

We assessed the effects of intravenous (IV) ascorbic acid administration on fatigue in women undergoing laparoscopic myomectomy. We analyzed the secondary endpoint results of a randomized, double-blind, placebo-controlled trial. Fifty patients undergoing laparoscopic myomectomy received IV ascorbic acid (2g) or placebo (randomly 1:1 ratio) intravenously during surgery. On day 2 post-surgery, we measured the level of fatigue using the Brief Fatigue Inventory-Korean version. Forty-five women (experimental arm 23, control arm 22) were eligible for analysis after 5 women (experimental arm 2, control arm 3) were excluded due to withdrawal of consent, cancellation of surgery or non-measurement of the endpoints. The baseline and operative characteristics were similar between arms and the global fatigue score of the experimental arm (4.56 ± 2.63) was not significantly different from that of the control arm (5.21 ± 2.02, P = 0.351). However, the fatigue score of the experimental arm tended to be lower than that of the control arm in most domains. IV ascorbic acid administration did not significantly reduce the level of fatigue in women undergoing laparoscopic myomectomy as compared to placebo. More research is needed to better understand the effects of ascorbic acid on fatigue in surgical patients.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.9
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• pp.1795-1802
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• 2009

Motion based serious game is a new style of game and exercise using hands, arms, head and whole body. At that time gamer's reachable movement space is an important game space and interaction happening place. We propose efficient game spatial division and analysis algorithm that gives special information for collision avoidance of game objects. We devide into 9 parts of game space and check the enemy position and upper, down, left and right side movement information of gamer and calculate optimal path for collide avoidance of the enemy. To evaluate the method, we implemented a motion base serious game that consists of a web cam, a player, an enemy, and we obtained some valid results of our method for the collision avoidance. The resole demonstrated that the proposed approach is robust. If movement information is in front of enemy, then the enemy waits and finds the place and runs to avoid collision. This algorithm can be used basic development of level control and effective interaction method for motion based serious game.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.808-812
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• 2003

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.

• The Korean Journal of Applied Statistics
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• v.23 no.6
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• pp.1047-1056
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• 2010

In clinical trials, patients should be randomly allocated to treatment and control groups that consider the balance of their prognostic factors(covariates). There are many randomization methods and stratification is popular in Korea. In stratification, patients are divided into strata based on covariates and then the patients are randomly assigned to the arms of each strata. If the number of covariates increases then the number of strata increases rapidly and the results may not be reliable when the patients are inadequate in each strata. To complement this problem Pocock and Simon (1975) suggested a new randomization method that called for minimization focusing on the balance of covariates. In this study, we compare the advantages and disadvantages, the imbalance of covariates, the power of minimization, and other randomization methods by simulation.