• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• Journal of the Korean Society of Visualization
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• v.12 no.2
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• pp.18-22
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• 2014

Caenorhabditis elegans (C. elegans) is an undulatory nematode which exhibits two distinct locomotion types of swimming and crawling. Although in its natural habitat C. elegans lives in a non-Newtonian fluidic environment, our current understanding has been limited to the behavior of C. elegans in a simple Newtonian fluid. Here, we present some experimental results on the penetrating behavior of C. elegans at the interface from liquid to solid environment. Once C. elegans, which otherwise swims freely in a liquid, makes a contact to the solid gel boundary, it begins to penetrate vertically to the surface by changing its stroke motion characterized by a stiffer body shape and a slow stroke frequency. The particle image velocimetry (PIV) analysis reveals the flow streamlines produced by the stroke of worm. For the worm that crawls on a solid surface, we utilize a technique of traction force microscopy (TFM) to find that the crawling nematode forms localized force islands along the body where makes direct contacts to the gel surface.

• The Journal of Korean Physical Therapy
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• v.8 no.1
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• pp.1-14
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• 1996

The present case study has a object to investigate the changes in locomotion patterns of infant with athetoid cerebral palsy would be occured by the program when it is applied with upper extremity weight bearing. The subject has been limited to one infant over one year of age, selected from the patients in the physical therapy clinic, Rehabilitation Center, Taegu University. Subject is normal in the visual and auditory sense, but he is unable to walk on his own Subject weighted 2.9kg at birth and underwent severe postnatal kernicterus, always on the baby-walker at homo. He disliked supine position characteristic in moving in athetoid type before he was under the program. The program was applied 7 months. Each session of the program is composed of 7 stages : (1) prebriefing between the therapist and the parents (2) pretherapy amusement time of the infant (3) warming-up (4) upper extremity weight bearing (5) cooling-down (6) post-therapy amusement time (7) postbriefing. The locomotion of the subject is proved to be influenced by the program. He showed a leftward circular movement as a result of the exercise, reducing the involuntary movement of his head when he was positioned for crawling. Later he proceeded to develop into creeping, crawling, kneeling and finally cruising. In conclusion, it appeared evident that the locomotive abilities of the subject is improved by the program explored in this study. The higher locomotive patterns could be achieved such as crawling, sitting, kneeling and cruising wich enable the upper extremities weight bearing.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.395-398
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• 2007

최근 인공지능 분야에서는 강화학습(Reinforcement Learning)에 대한 관심이 크게 증폭되고 있으며, 여러 관련 분야에 적용되고 있다. 본 논문에서는 강화학습 기법 중 액터-크리틱 계열에 속하는 RLS-NAC 알고리즘을 활용하여 Kimura의 기는 로봇의 이동을 다룰 때에 중요 파라미터의 결정을 위하여 meta-learning 기법을 활용하는 방안에 고려한다.

• Proceedings of the Korean Fiber Society Conference
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• 2003.10a
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• pp.79-80
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• 2003

In order to develop an indoor assistive mobility equipment, we paid attention to the mechanism of locomotion in a snail, or a terrestrial gastropod molluscs. It is known that the snail moves by propagation of a pedal wave generating on a pedal surface of the snail and a pedal locomotion has flexibility far ground condition. An air mattress with a function of a pedal-like locomotion mechanism was developed and the performance of the pedal locomotory air mattress as mobility equipment was discussed.

• The Journal of Korean Physical Therapy
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• v.28 no.6
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• pp.385-392
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• 2016

Purpose: This study aimed to evaluate the relationships among quality of life, caregiver depression levels, and disease severity, especially motor function, in children with cerebral palsy. Methods: Data were collected through questionnaires using survey and interview from 80 caregivers of children with cerebral palsy. The caregivers' quality of life was measured using medical outcomes study 36-item short form health survey, and level of depression was scored using the beck depression inventory. In addition, children's motor function was evaluated using gross motor function measure-88 and functional independence measure scores. Results: Among 8 domains of medical outcomes study 36-item short form health survey, "physical functioning," "physical role functioning," "mental health," and "bodily pain" domains were significantly correlated to "total" percentage scores of gross motor function measure-88. In addition, "mental health" and "bodily pain" domains were correlated to each sub-dimension, including "lying and rolling," "sitting," "crawling and kneeling," "standing," and "walking, running, and jumping." Similarly, the "running" and "jumping" dimensions including motor function measures correlated with "transfer," "locomotion," and "motor subtotal" of functional independence measure scores. The beck depression inventory scores were negatively correlated to "lying and rolling," "sitting," "crawling and kneeling," and the "total" percentage scores of gross motor function measure-88. The beck depression inventory scores were negatively correlated to "sphincter control," "communication," "social cognition," "cognitive subtotal," and "total" functional independence measure scores. Conclusion: It is necessary to consider the quality of life and emotional problems of caregivers of CP children and support them both physically and psychologically with comprehensive rehabilitation.

• Physical Therapy Rehabilitation Science
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• v.6 no.1
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• pp.26-32
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• 2017

Objective: The purpose of this study was to evaluate the relationship between quality of life (QoL) of the caregiver and disease severity with motor function in children with cerebral palsy (CP). Design: Cross-sectional study. Methods: Research data were collected in the Rehabilitation Clinic of Daegu University. The Gross Motor Function Measure (GMFM-88) and the functional independence measure (FIM) were used for assessment by three occupational therapists, and the 36-item short form health survey (SF-36) were applied to the caregivers. One hundred six caregivers of under 18 years who were diagnosed with CP completed a survey and interview. The caregivers' QoL was evaluated using Medical Outcomes Study SF-36. The children's motor function was scored using GMFM-88 in five dimensions: lying and rolling; sitting; crawling and kneeling; standing and walking, running and jumping and CP's FIM scores. Results: Out of the 8 domains of the Medical Outcomes Study SF-36, the "physical functioning", "physical role functioning", "mental health", and "bodily pain" domains were significantly correlated to "total" percentage scores of the GMFM-88 (p<0.05). In addition, the "mental health" domain was correlated to each subdomain of the GMFM-88, which includes, "lying and rolling", and "crawling and kneeling". Similarly, of Medical Outcomes Study SF-36, "physical functioning", "bodily pain", and "mental health" domains were significantly correlated with "transfer" and "locomotion" of FIM scores (p<0.05). Conclusions: This study showed that the QoL of the caregivers were well correlated with the motor function of children with CP. It is also important to support not only physical health but also psychological health of caregivers of children with CP, especially those with severe motor function.

• The Journal of Korean Physical Therapy
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• v.27 no.6
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• pp.425-429
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• 2015

Purpose: This study was to identify the whether there is any correlation between Gross Motor Function Measures (GMFM) and Functional independence Measurement for children (WeeFIM) in order to identify a relevance of daily life motor with gross motor function of children with cerebral palsy. Methods: Subjects were instructed to evaluated by an occupational therapist using WeeFIM (reliability 0.83-0.99) and by a physical therapist using GMFM (reliability 0.93). 10 male children and 13 female children among 23 children being diagnosed as cerebral palsy were targeted for this study. A correlation between GMFM and WeeFIM was analyzed with Kendall correlation. Results: Participants showed significant correlation between GMFM and WeeFIM in all categories, except in the GMFM's walking running jumping category, standing category of GMFM and self care, sphincter control, communication category of WeeFIM. Lying rolling and sitting and crawling kneeling area of GMFM showed a significant correlation with self care(r=0.35, 0.39, 0.4), sphincter control (r=0.45, 0.43, 0.61), mobility transfer (r=0.44, 0.36, 0.64), locomotion (r=0.41, 0.35, 0.74), communication (r=0.4, 0.44, 0.51), and social cognition (r=0.43, 0.51, 0.64) area of WeeFIM (p<0.05). Standing of GMFM and mobility transfer (r=0.74), locomotion (r=0.47) and social cognition (r=0.4) area of WeeFIM showed a significant correlation (p<0.05). Conclusion: These findings indicated significant correlation between activity of daily living (ADL) and gross motor function of children with cerebral palsy. However, because there are a few results that are not significant, both assessment tools should be used for evaluations so that treatment can be achieved with an accurate assessment and establish a therapeutic plan.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.366-366
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• 2016

Nanoscale observation of attachment systems of animals has revealed various exquisite multiscale architectures for essential functions such as gecko's locomotion, beetles' wing fixation, octopuses' sucking and crawling. In particular, the hierarchical 3-dimensional hexanonal nano-architectures in the tree frog's adhesion is known to have the capability of the enhancement of adhesion forces on the wet or rough surfaces due to the conformal contacts against rough surfaces and water-drainable micro channels. Here, we report that tree frog-inspired patches using unique artificial 3-dimensional hexagonal structures can be exploited to form reversibly enhanced adhesion against various highly curved and rough surfaces in dry and wet condition. To investigate the adhesion effect of micro-channels, we changed the arrangement of microstructure and spacing gaps between micro-channels. In addition, we introduced the 3-dimensional hexagonal hierarchical architectures to artificial patches to enhance to conformal contacts on the various rough surfaces such as skin and organs. Using the robust adhesion properties, we demonstrated the self-drainable and comfortable skin-attachable devices which can measure EKG (electrokardiogramme) for in-vitro diagnostics. As a result, bio-inspired programmable nano-architectures can be applied in versatile devices such as, medical patches, skin-attachable electronics etc., which would shed light on future smart, directional and reversible adhesion systems.