• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.12
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• pp.43-51
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• 2020

This study examined how the eight-week spinal stabilization exercise program affects the cervical disability index, postural balance ability, and body shape change. The exercise program performed 60 minutes of spinal stabilization exercise three times a week for eight weeks. Sixteen patients with chronic neck pain, who complained of neck pain for six months, were classified into exercise group (n=8 patients) and control group (n=8 patients). The results before and after the eight-week exercise program were observed. Significant differences were observed in the time, group, and interaction of the neck disability index (p<.05). The balance ability showed significant interaction effects between the groups and periods (p<.05). Significant differences were noted in the timing and interaction in the pelvic inclination angle in posture change (p<.05), and there were significant differences in the group, timing, group, and interaction in the cervical and shoulder position angles (p<.05). The above results showed that the spinal stabilization exercise significantly improved the cervical disability index, balance ability change, and body shape change in patients with chronic neck pain. Future studies will analyze the specific changes in spinal structure through radiographic imaging to increase the validity of spinal stabilization exercise.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.301-307
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• 2011

Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.799-802
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• 1997

This paper deals with a new method to derive the Generalized Jacobian Matrix of a space robot. In a conventional method to derive the Generalized Jacobian Matrix, generalized coordinates select Joint angles and a space robot body's position and attitude angle. But, in this paper, we select position and attitude angle of the end-effector or the handled floating object as generalized coordinates. Then, we can derive the Generalized Jacobian Matrix of the system which consists of several space robots and a handled floating object. Moreover control methods operated by only one space robot can be easily extended to the cases of cooperation task by several space robots. Computer simulations show that the Generalized Jacobian Matrix derived here is effective.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1167-1172
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• 2015

This paper describes the implementation of wearable AHRS for an electromagnetic motion capture system that can trace and analyze human motion on the principal nine axes of inertial sensors. The module provides a three-dimensional (3D) attitude and heading angles combining MEMS gyroscopes, accelerometers, and magnetometers based on the extended Kalman filter, and transmits the motion data to the 3D simulation via Wi-Fi to realize the unrestrained movement in open spaces. In particular, the accelerometer in AHRS is supposed to measure only the acceleration of gravity, but when a sensor moves with an external linear acceleration, the estimated linear acceleration could compensate the accelerometer data in order to improve the precision of measuring gravity direction. In addition, when an AHRS is attached in an arbitrary position of the human body, the compensation of the axis of rotation could improve the accuracy of the motion capture system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.518-523
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• 2015

This paper proposes a gait phase classifier using a Recurrent Neural Network (RNN). Walking is a type of dynamic system, and as such it seems that the classifier made by using a general feed forward neural network structure is not appropriate. It is known that an RNN is suitable to model a dynamic system. Because the proposed RNN is simple, we use a back propagation algorithm to train the weights of the network. The input data of the RNN is the lower body's joint angles and angular velocities which are acquired by using the lower limb exoskeleton robot, ROBIN-H1. The classifier categorizes a gait cycle as two phases, swing and stance. In the experiment for performance verification, we compared the proposed method and general feed forward neural network based method and showed that the proposed method is superior.

• The Research Journal of the Costume Culture
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• v.4 no.3
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• pp.373-381
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• 1996

Draping design system organized by European about 13C has been developed greatly for a long while, but for the purpose of the practical use the Dress form similar to human body has been needed. In order to make three-dimensional effect as fitting Muslin ot the Dress form. the Basic lien has to be established in Muslin and Dress form each. At this time, Shoulder-blade level is indicated from various angles : measure down 10cm from the back neck point, a quarter of the back neck point to the waist lie, the half-way point between neckline and bust line, measure down 41 inches from the back neck line, measure down 3 inches from the top edge of the muslin at center back and cross mark for neck line, and so forth. This study established the Basic line through the two ways of them (B.N.P∼B.L/2, B.N.P∼W.L/4), did tight fitting to the 5 kinds of Dress forms which ar normal type in the drop value(the difference between hip circumference and bust circumference), and acquired Basic Pattern. After the experiment, fitness are throughly investigate by statistical analysis of measurements. As a result, this study finds out that fit is proper when shoulder blade level is situated on a fourth of the back neck point to the waist line and a quarter point between back neck point and waist line, and waist dart is situated on the back center line and princess line.

• Journal of Biomedical Engineering Research
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• v.28 no.6
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• pp.744-749
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• 2007

Kinematic and kinetic analysis has been performed for Soft Golf swings utilizing realistic three dimensional computer simulations based on three dimensional motion tracking data. Soft Golf is a newly developed recreational sport in South Korea aimed to become a safe and easy-to-learn sport for all ages. The advantage of Soft Golf stems from lighter weight of the club and much larger area of the sweet spot. This paper tries to look into kinematic and kinetic aspects of soft golf swings compared to regular golf swing and find the advantages of lighter Soft Golf clubs. For this purpose, swing motions of older aged participants were captured and kinematic analysis was performed for various kinematic parameters such as club head velocity, joint angular velocity, and joint range of motions as a pilot study. Kinetic analysis was performed by applying kinematic data to computer simulation models constructed from anthropometric database and the measurements from the participants. The simulations were solved using multi-body dynamics solver. Firstly, the kinematic parameters such as joint angles were obtained by solving inverse dynamics problem based on motion tracking data. Secondly, the kinetic parameters such as joint torques were obtained by solving control dynamics problem of making joint torque to follow pre-defined joint angle data. The results showed that mechanical loadings to major joints were reduced with lighter Soft Golf club.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• Korean Journal of Applied Biomechanics
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• v.20 no.1
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• pp.57-65
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• 2010

Korean traditional martial arts Taekkyon has a unique stepping method, Poombalbki. The purpose of this study was to investigate kinematic factors and ground reaction forces on two types of Poombalbki, one of which use knee bending and the other use chiefly hip bending. Six male taekkyoners who are the students of Y University participated in this study. Positions and velocities of CoM, the elapsed times of each phase, angles and angular velocities of low limb joints, and GRFs were analyzed for this study. The results were as follows; CoMs of whole body, trunk, and head were more posteriorly positioned in performing hip bending Poombalbki than knee bending one. Horizontal velocities of those were slower in performing hip bending Poombalbki. A player stayed more shortly within range of his opponent in performing hip bending Poombalbki. The vertical and horizontal components of GRF of forward-stepping foot were smaller in performing hip bending Poombalbki(p<.05). In conclusion hip bending is useful strategy, because A player is farther from his opponent, he stayed more shortly within range of his opponent, and the smaller weight is loaded on his front foot in performing hip bending Poombalbki than knee bending one.

• Transactions of Materials Processing
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• v.23 no.6
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• pp.376-379
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• 2014

During roll forming a sheet metal is continuously and progressively formed into a product of the required cross-section and longitudinal shape. An example product is a circular tube with a required diameter, wall-thickness and straightness. Roll forming occurs by passing the sheet through a series of forming rolls that are arranged in tandem. Each pair of forming rolls in the roll forming line plays a particular role in obtaining the required cross-section and longitudinal shape in the product. In recent years, that process is often applied to car body parts by automotive industries. In the current study, an optimal model design and proper roll-pass sequences as well as the number of forming rolls and bending angles were used to produce a sill side. The effects of the process parameters on the final shape formed by roll forming defects were evaluated.