• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.6
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• pp.1203-1211
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• 2017

This paper proposes a robust controller for flexible joint robots to achieve tracking performance and to improve robustness against both matched and mismatched disturbances. The proposed controller consists of a disturbance observer(DOB), passivity-based controller, and integral sliding mode controller(ISMC) in a backstepping manner. The DOB compensates the mismatched disturbance in the link-side and formulates the reference input for the motor-side controller. Interconnection and damping assignment passivity-based controller (IDA-PBC) performs tracking control of motor-side, and it is integrated to nominal control of ISMC to guarantee the over-all stability of the nominal system, while, matched disturbances are decoupled by the discontinuous control of ISMC. In the design of the link-side controller, PD type impedance controller is designed with DOB and this leads the continuous control input which is suitable to the reference input for the motor-side.

• Physical Therapy Rehabilitation Science
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• v.5 no.3
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• pp.132-137
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• 2016

Objective: Eversion of the foot is created with internal rotation of the shank, and inversion of the foot is created with external rotation of the shank. The purpose of the study was to investigate the effect of continuous changes in the angle of the subtalar joint on lower extremity alignments. Design: Cross-sectional study. Methods: Seventeen healthy young adult subjects recruited. The subjects were asked to stand up in a natural standing position on a footplate with eye open and equal weight on each foot for 10s in two different conditions: The right subtalar joint was everted continuously $0^{\circ}-20^{\circ}$ and in separate segments of $0^{\circ}$, $5^{\circ}$, $10^{\circ}$, $15^{\circ}$, $20^{\circ}$. The averages of three trials were used. The observation of the changes in the lower extremity was performed with the use of 3-dimensional motion analysis. For data analysis, the SPSS 18.0 software using paired t-test and repeated measures analysis of variance (ANOVA) was applied. Results: The angle was significantly increased at the horizontal rotation angle of the shank, thigh, and ankle without anterior rotation of the pelvis (p<0.05). The maximum horizontal rotation angle at the thigh on $20^{\circ}$ was $-4.52^{\circ}$ in static, and $-3.10^{\circ}$ in the dynamic conditions compared to $0^{\circ}$. Conclusions: Increased unilateral foot pronation, thigh, shank, ankle horizontal rotation variance was significantly effective. The observation of the changes in foot abduction with the use of a 3-dimensional motion analysis augmented in predicting the angle values of each segment of the lower extremity. In further studies, a comparison of the right and left subtalar joints need to be investigated.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.239-248
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• 2014

The purpose of this study was to quantify kinematic and kinetic characteristics of Yin-yang Bo gait according to their motor expertise, one of the Seokmun Ilwol martial art gait patterns. Yin-yang Bo gait pattern shows initial forefoot contact instead of heel contact, and increased time of stance phase time, internal-external rotation of ankle-knee-hip joints and pelvic. It aims to produce and store the more energy through continuous homeostasis of center of gravity (COG) and performance of stretch-shortening cycle. Some of these characteristics also were similar to the gait modification strategies for reducing knee adduction moment such as toe-out progression, medial thrust, internal rotation of hip joint. To identify the characteristics, four factors of expert Yin-yang Bo gait performance group were compared to that of none expert group; 1) angles of COG displacement and rotation 2) distal joint pre-rotation in internal-external rotation of ankle-knee-hip joints and pelvic, 3) invariability pelvic potential and pelvic segment total energy 4) knee abduction moment. Six healthy(three male) subjects participated in the experiment to perform Yin-yang gait pattern. Three-dimensional and force plate data were collected. Kinematic and kinetic data were compared between two groups using t-tests. Results showed that 1) the peak point of COG internal rotation angle was reduced in expert group, 2) kneeexternal and hip joint -internal and pelvic rotation angle peak frames were more near points in expert group.

• Journal of Oral Medicine and Pain
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• v.38 no.2
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• pp.143-147
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• 2013

Mouth opening limitation is generally caused by masticatory muscle or temporomandibular joint pain, disc dislocation without reduction, adhesion or ankylosis of the temporomandibular joint, and muscle contracture. But otorhinolaryngologic disease, neurologic and vascular disease, tumor, inflammation and infection may cause pain and mouth opening limitation which mimics temporomandibular disorders. Re-evaluation for possibilities of inflammation, infection and tumor should be in cases that do not show symptom improvement or appear with continuous aggravation despite of proper treatment. In this case, we report of medial pterygoid muscle pain and mouth opening limitation caused by periapical abscess of third molar spread to the pterygomandibular space.

• Physical Therapy Korea
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• v.24 no.1
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• pp.30-40
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• 2017

Background: Many studies have reported positive results of the various mirror training and virtual reality games in improving dynamic standing balance and posture adjustment in chronic stroke patients. However, no systematic study has been conducted to compare the effects of virtual reality games and the mirror balance training. Objects: The purpose of this study was to compare the effectiveness of Wii balance games and Mirror Self-Balancing Exercises in improving proprioception of knee joint and standing balance of people with chronic stroke. Methods: Twenty patients with chronic stroke volunteered for this study. The subjects were randomly divided into a Wii balance games group and a Mirror Self-Balancing Exercises group with 10 patients in each group. Each training was performed for 30 mins a day for 4 days. In addition to the balance training, 30 mins neuro-developmental-treatment based routine physical therapy was given to both groups. Proprioception was measured using two continuous passive motion devices, and static balance was measured using a Wii balance board. Dynamic balance assessment tools included the Berg Balance Scale, Dynamic Gait Index, and Timed Up-and-Go test. Results: All measured variables before and after the experimental results showed a significant improvement in both groups (p<.05). Only the improvement of the affected knee proprioception appeared to be significantly greater in the Wii balance game group (p<.05). However, other variables did not differ between the groups (p>.05). Conclusion: The findings suggest that both Wii balance games and Mirror Self-Balancing Exercises may be helpful for improving the proprioception of knee joint and the balance of patients with chronic stroke.

• Journal of the Korean GEO-environmental Society
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• v.11 no.12
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• pp.5-11
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• 2010

If the groundwater in rock joint is changed into ice, it induces the stress increment by volume increase. Also, if the ice is changed into groundwater again, the stress in joint decreases by volume decrease. The accumulated displacement and fatigues of joints are increased by the stress-hysterisis, induced from the continuous frost-thawing. Also the shear strength is decreased by them continuously. The stress-hysterisis is affected by the atmospheric temperature changes, whose behavior is visco-elasticity, usually. Therefore, Kelvin model could be used to analyze the frost-thawing behavior in winter. The measured data of total 5 points are examined, which are composed of 3 points of shallow joints and 2 points of deep joints. Because shallow weathered rocks have many joints, a lot of Kelvin model are connected and the behaviors are complicated. In case of deep joints, simple Kelvin model is applied and the behaviors are also simple.

• The korean journal of orthodontics
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• v.49 no.6
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• pp.413-426
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• 2019

This study was performed to describe the longitudinal management of recurrent temporomandibular joint (TMJ) ankylosis from infancy to adulthood in perspective of surgical and orthodontic treatment. A 2-year-old girl was referred with chief complaints of restricted mouth opening and micrognathia due to bilateral TMJ ankylosis. For stage I treatment during early childhood (6 years old), high condylectomy and interpositional arthroplasty were performed. However, TMJ ankylosis recurred and symptoms of obstructive sleep apnea (OSA) developed. For stage II treatment during early adolescence (12 years old), gap arthroplasty, coronoidectomy, bilateral mandibular distraction osteogenesis, and orthodontic treatment with extraction of the four first premolars were performed. However, TMJ ankylosis recurred. Because the OSA symptoms reappeared, she began to use a continuous positive airway pressure device. For stage III treatment after completion of growth (20 years old), low condylectomy, coronoidectomy, reconstruction of the bilateral TMJs with artificial prostheses along with counterclockwise rotational advancement of the mandible, genioglossus advancement, and orthodontic treatment were performed. After stage III treatment, the amount of mouth opening exhibited a significant increase. Mandibular advancement and ramus lengthening resulted in significant improvement in the facial profile, Class I relationships, and normal overbite/overjet. The OSA symptoms were also relieved. These outcomes were stable at the one-year follow-up visit. Since the treatment modalities for TMJ ankylosis differ according to the duration of ankylosis, patient age, and degree of deformity, the treatment flowchart suggested in this report could be used as an effective guideline for determining the appropriate timing and methods for the treatment of TMJ ankylosis.

• Korean Journal of Applied Biomechanics
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• v.32 no.1
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• pp.24-30
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• 2022

Objective: The purpose of this study was to determine the factors of successful and unsuccessful movements through the analysis of kinematics and muscle activity of the Free Aerial Cartwheel on the balance beam. Method: Subjects (Age: 22.8 ± 2.4 yrs., Height: 158.7 ± 5.0 cm, Body mass: 54.1 ± 6.4 kg, Career: 13 ± 2.4 yrs.) who were currently active as female gymnasts participated in the study. They had no history of surgical treatment within 3 months. Subject criteria included more than 10 years of professional experience in college and professional level of gymnastics and the ability to conduct the Free Aerial Cartwheel on the Balance Beam. Each subject performed 10 times of Free Aerial Cartwheel on the balance beam. One successful trial and one unsuccessful trial (failure) among 10 trials were selected for the comparison. Results: It was found that longer time required in case of unsuccessful trial when performing the Free Aerial Cartwheel on the balance beam compared with successful trial. It is expected to be the result of movement in the last landing section (i.e. phase 5). In addition, it was found that the center of gravity of the body descends at a high speed to perform the jump (i.e. phase 2) in order to obtain a sufficient jumping height when the movement is successful while the knee joint is rapidly extended to perform a jump when movement fails. In the single landing section after the jump (i.e. phase 4), if the ankle joint rapidly dorsiflexed after take-off and the hip joint rapidly flexed, so landing was not successful. Conversely, in a successful landing movement, muscle activity of the biceps femoris was greatly activated resulting no shaking in the last landing section (i.e. phase 5). Conclusion: In order to succeed in this movement, it is necessary to perform a strong jump after rapidly descending the center of gravity of the body using the force of the biceps femoris muscle. Further improvement of the skills on the balance beam requires the analysis of the game-like situation with continuous research on kinematic and kinematic analysis of various techniques, jumps, turns, etc.

• Clinics in Shoulder and Elbow
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• v.18 no.4
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• pp.217-220
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• 2015

Background: The purpose of this study is to administer conservative treatment in 30 patients diagnosed with idiopathic frozen shoulder, following the suggested frozen shoulder rehabilitation program and to assess the clinical outcome using a prospective study. Methods: Thirty patients diagnosed with idiopathic frozen shoulder, treated with steroid hormone injection on the articular joint with an intra-articular steroid (triamcinolone 40 mg+lidocaine 4 ml) injection and started on stepwise shoulder extension exercise were chosen. The subjects were divided into two groups of 15 people each with one group undergoing rehabilitation with continuous passive motion (CPM) and the other group without it. Follow-ups were done before rehabilitation and at 4-week intervals with the 24th being the final week. At every follow-up, passive range of motion (ROM) was measured and surveys on pain and clinical score were administered. Results: In the last follow-up, both groups showed statistically significant improvements in all evaluation criteria. However, no statistical difference in all values of the ROM and Constant score evaluation criteria was observed between the groups. Only in the last follow-up, group 1 had a visual analog scale (VAS) score of $2.4{\pm}2.1$ points, which was lower, with statistical significance, than the VAS score of group 2, which was $4.4{\pm}3.1$ points (p<0.001). Conclusions: Study using CPM in treatment of frozen shoulder has been inadequate, meaning that there is still room for improvement and need for more study on setting a more specific protocol and guidelines for this procedure.

• Journal of the Korea Concrete Institute
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• v.23 no.2
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• pp.177-184
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• 2011

This paper describes an analytical study on the design approach of PC system with continuous connections at member ends. In multi-ribbed moment resisting slab (MRS) system, double tee members are connected continuously over inverted tee beams with the continuous reinforcements placed within topping concrete. Thus, negative moments are concentrated within the narrow connection area. In order to propose a design method, experimental results of the companion study were examined using detailed nonlinear analysis. Then nonlinear static analysis was used to evaluate the partial continuity effect and the moment redistribution mechanism. Material and cross sectional properties were obtained from experimental results of the companion study. Plastic hinge properties for nonlinear static analysis were modeled with cracking moment, nominal moment, corresponding member deformations, etc. The analysis results showed that a large amount of negative moment of MRS slab can be reduced by applying partial continuity and moment redistribution in MRS joint.