• 한국정보통신학회논문지
• /
• 제21권6호
• /
• pp.1203-1211
• /
• 2017

본 논문은 유연관절로봇의 추종성능과 정합과 비정합 외란 모두에 대한 강인성을 향상시키기 위한 강인한 제어기를 제안한다. 제안된 제어기는 백스테핑 외란관측기(DOB), 수동성기반 제어기(PBC)와 적분슬라이딩모드 제어기(ISMC)가 백스테핑기법 형태로 구성되어 있다. 백스테핑 DOB는 링크측의 비정합 외란을 고려하는데 사용되며 모터측의 기준입력을 제공하는 역할을 한다. IDA-PBC는 모터측의 추종제어를 수행하며 적분슬라이딩모드제어와 결합될 때 공칭제어기의 역할을 하며 전체 공칭제어시스템의 안정도를 보장받도록 한다. 반면에 적분슬라이딩모드제어는 정합조건을 만족시키는 모터측의 외란의 영향을 제거하는데 사용된다. 링크측의 제어기를 설계하는데 있어서는 PD타입의 임피던스제어기와 DOB가 결합됨으로써 강인한 제어특성과 함께 모터측의 기준입력에 적합한 연속적인 입력의 제공이 가능하도록 하였다.

• Physical Therapy Rehabilitation Science
• /
• 제5권3호
• /
• pp.132-137
• /
• 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.

• 한국운동역학회지
• /
• 제24권3호
• /
• pp.239-248
• /
• 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
• /
• 제38권2호
• /
• pp.143-147
• /
• 2013

측두하악장애 중 개구제한은 일반적으로 저작근, 측두하악관절의 통증, 비정복성 관절원판변위, 측두하악관절의 유착이나 강직, 저작근의 근경축 등에 의해 발생한다. 하지만 이비인후과적인 질환, 신경 및 혈관질환, 종양, 염증, 감염 등에 의해 측두하악장애와 유사한 통증 및 개구제한이 유발 될 수 있다. 따라서 병력 조사 및 임상 검사 시 이러한 이차적 질환에 대한 고려가 필요하다. 특히 초진 시 전형적인 측두하악장애의 소견을 보인다고 할지라도 적절한 치료 및 환자의 자기 관리에도 불구하고 증상의 호전이 없거나 지속적인 악화 소견을 보이는 경우에는 염증, 감염, 종양 등의 가능성에 관한 포괄적인 재평가가 필수적이다. 본 증례에서는 제 3 대구치의 치근단 농양이 익돌하악간극(pterygomandibular space)으로 확산되어 발생한 내익돌근(medial pterygoid muscle)의 통증 및 개구제한에 관하여 경험하였기에 이를 보고하고자 한다.

• 한국전문물리치료학회지
• /
• 제24권1호
• /
• pp.30-40
• /
• 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.

• 한국지반환경공학회 논문집
• /
• 제11권12호
• /
• pp.5-11
• /
• 2010

동절기에 암반의 절리면 내의 지하수의 동결 시 부피팽창으로 인해 절리면내 응력이 증가할 것이며, 융해 시 부피감소로 인해 응력이 감소되어 원상태로 회복된다. 동결융해과정이 지속적으로 반복되면서 발생되는 응력이력현상으로 인해 암반사면 내의 피로현상이 누적되면서 암반사면 절리면 내 누적 변위가 증가할 뿐만 아니라 전단강도 역시 지속적으로 감소될 것이다. 동결융해로 인한 응력의 이력현상은 대기의 온도의 영향에 의한 것으로, 일반적으로 점탄성 거동을 하게 된다. 그러므로, 일반적으로 점탄성 거동해석에 사용되는 Kelvin 모델을 적용할 수 있다. 동절기의 동결융해에 따른 암반사면의 거동을 해석하기 위하여, 계측깊이에 따라 얕은 절리면 깊이의 3지점과 깊은 절리면의 2지점으로, 총 5곳의 실측자료를 분석하였다. 얕은 절리면의 경우 많은 절리면을 가져, 다수의 Kelvin model이 연결된 상태이므로 거동이 복잡한 형태로 나타났다. 암반이 양호한 깊은 절리면의 경우 단순한 Kelvin model이 연결된 상태이므로, 절리면 거동이 단순한 형태로 나타남을 볼 수 있다.

• 대한치과교정학회지
• /
• 제49권6호
• /
• pp.413-426
• /
• 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.

• 한국운동역학회지
• /
• 제32권1호
• /
• pp.24-30
• /
• 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
• /
• 제18권4호
• /
• pp.217-220
• /
• 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.

• 콘크리트학회논문집
• /
• 제23권2호
• /
• pp.177-184
• /
• 2011

이 연구에서는 PC 구조의 단부를 연속으로 연결한 MRS(multi-ribbed moment resisting slab) 구조에 대한 해석 및 설계법을 제안하고자 하였다. MRS 구조에서는 더블티 부재가 역티보 위에서 부모멘트 철근에 의해서 연속으로 설계되므로, 부모멘트 철근이 좁은 지역에 밀집되는 문제가 발생할 수 있다. 따라서 선형 및 비선형 해석을 통하여 모멘트 분포 메커니즘을 분석하여, 적절한 설계법을 제시하였다. 또한 이 연구와 병행하여 실시한 실험 연구의 결과를 비선형상세 해석을 통하여 분석하였다. 그리고 단부구속효과 및 모멘트 재분배에 관한 연구를 위하여 비선형 골조 해석을 선택하여 변수별 연구를 수행하였다. 해석을 위한 재질 및 단면의 특성은 함께 진행된 실험 연구의 결과로부터 얻어졌으며, 비선형 골조 해석을 위한 소성힌지는 균열 모멘트, 공칭 모멘트, 부재 연성도 등의 값으로 모델링되었다. 선형 및 비선형 해석의 결과로부터 단부 회전 스프링과 부모멘트재분재를 통하여 MRS 구조의 단부 모멘트는 상당한 크기로 감소시킬 수 있음을 알 수 있었다.