• Journal of Mechanical Science and Technology
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• v.14 no.11
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.4
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• pp.2191-2196
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• 2020

Background: Incorrect postures of adolescents caused by the use of smart devices have been noted as a factor causing spinal diseases. Objectives: To examine the effect of joint mobilization and stretching on Cobb's angle and respiratory function in adolescent idiopathic scoliosis (AIS). Design: Cluster-randomized controlled trial. Methods: A total of 22 subjects with AIS were enrolled. They were allocated to two groups: the joint mobilization (n=11) and the stretching (n=11). All interventions were conducted for 30 minutes, three times a week for six weeks. Outcome measures were the Cobb's angle and respiratory function. The Cobb's angle and respiratory function measured using the X-ray and Micro-Quark. Results: Joint mobilization group showed significant differences in Cobb's angle and respiratory function, but stretching group showed significant differences Cobb's angle. The differences in peak expiratory flow (PEF) between the two groups were significant. Conclusion: This study proved that joint mobilization is a more effective intervention for AIS to improve Cobb's angle and respiratory function, when compared to stretching.

• Journal of the Korean Society of Physical Medicine
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• v.16 no.3
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• pp.45-53
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• 2021

PURPOSE: The current case study focuses on identifying the effects of the independent application of TECAR therapy and physiotherapeutic intervention using TECAR therapy on pain self-awareness and hip joint function in patients with hip impingement syndrome caused by nonstructural changes. Subjects: The research subject was a 34-year-old woman struggling with acute pain in her left hip, difficulty in actively moving the hip, and a problem in its overall function. METHODS: The subject's pain awareness and hip joint function were measured using a Visual Analog Scale (VAS) and passive range of motion (PROM), respectively. The experimental intervention was carried out in 24 sessions of 16 minutes each, three times a week, for eight weeks. RESULTS: The VAS score decreased to 0 cm on the post-test from 4.3 cm, 6.5 cm, and 7.2 cm in the pre-test at the rest, standing, and gait positions, respectively. The index of PROM measured hip joint flexion, extension, abduction, adduction, internal rotation, external rotation, and passive straight leg raise. The values increased to 122.5°, 24.5°, 78°, 33°, 65°, 42°, and 96.5° in the post-test compared to 88.5°, 15°, 39°, 21.5°, 23°, 22°, and 46.5° in the pre-test, respectively. CONCLUSION: TECAR therapy and physiotherapeutic intervention using TECAR can help reduce pain and enhance the hip joint function in patients with hip impingement syndrome.

• Journal of the Optical Society of Korea
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• v.12 no.4
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• pp.240-243
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• 2008

Using the well-known Fokker-Planck method, this paper presents a standard way to find the joint-characteristic function for the first- and second-order polarization-mode-dispersion vectors originally derived by Foschini and Shepp. Compared with the Foschini and Shepp's approach, the Fokker-Planck approach gives a more accurate and straightforward way to find the joint-characteristic function.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1994.04a
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• pp.561-568
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• 1994

A man model can be used as an effective tool to design ergonomically sound products and workplaces, and subsequently evaluate them properly. For a man model to be truly useful, it must be integrated with a posture prediction model which should be capable of representing the human arm reach posture in the context of equipments and workspaces. Since the human movement possesses redundant degrees of freedom, accurate representation or prediction of human movement was known to be a difficult problem. To solve this redundancy problem, a psychophysical cost function was suggested in this study which defines a cost value for each joint movement angle. The psychophysical cost function developed integrates the psychophysical discomfort of joints and the joint range availability concept which has been used for redundant arm manipulation in robotics to predict the arm reach posture. To properly predict an arm reach posture, an arm reach posture prediction model was then developed in which a posture configuration that provides the minimum total cost is chosen. The predictivity of the psychophysical cost function was compared with that of the biomechanical cost function which is based on the minimization of joint torque. Here, the human body is regarded as a two-dimensional multi-link system which consists of four links ; trunk, upper arm, lower arm and hand. Real reach postures were photographed from the subjects and were compared to the postures predicted by the model. Results showed that the postures predicted by the psychophysical cost function closely simulated human reach postures and the predictivity was more accurate than that by the biomechanical cost function.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.22 no.5
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• pp.607-617
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• 1998

Comparisons of joint probability density distribution obtained from the raw data of measured droplet sizes and velocities in a transient diesel fuel spray with computed joint probability density function were made. Simultaneous droplet sizes and velocities were obtained using PDPA. Mathematical probability density functions which can fit the experimental distributions were extracted using the principle of maximum likelihood. Through the statistical process of functions, mean droplet diameters, non-dimensional mass, momentum and kinetic energy were estimated and compared with the experimental ones. A joint log-hyperbolic density function presents quite well the experimental joint density distribution which were extracted from experimental data.

• Proceedings of the ESK Conference
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• 1994.04a
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• pp.115-123
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• 1994

A man model can be used as an effective tool to design ergomonically sound products and workplaces, and subsequently evaluate them properly. For a man model to be truly useful, it must be integrated with a posture prediction model which should be capable of representing the human arm reach posture in the context of equipments and workspaces. Since the human movement possesses redundant degrees of freedom, accurate representation or prediction of human movemtn was known to be a difficult problem. To solve this redundancy problem, the psychophysical cost function can predict the arm reach posture accurately. But the joint discomfort that human feels at the joint can not be predicted since the effects of external factors on the joint discomfort is not known. In this study a psychophysical experi- ment using the magnitude estimation technique was performed to evaluate the effects of external factors such as joint, joint angle and Perceived Exertion Ratio on the joint discomfort. Results showed that the joint discomfort increased as the Perceived Exertion Ratio increased, but the relation is not linear and was affected not only by the joint but also by the joint angle for the same Perceived Exertion Ratio. The interaction effect of the joint and the joint angle was also significant. From the results it is needed to develope the cost function which can predict the joint discomfort considering the joint, joint angle and external load.

• Journal of Mechanical Science and Technology
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• v.14 no.11
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• pp.1187-1197
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• 2000

• PNF and Movement
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• v.6 no.1
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• pp.53-60
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• 2008

Purpose : To describes the important aspects of knee joint movement and function used when applying PNF technique to the lower limb. Method : The knee was a very important roles in the lower limb movement and ambulation. This study summarizes the physiologic movement of knee to the PNF lower extremity patterns. Result : The tibiofemoral joint is usually described as a modified hinge joint with flexion-extension and axial rotation by two degrees of freedom movement. These arthrokinematics are a result of the geometry of the joints and the tension produced in the ligamentous structures. The patellofemoral joint is a sellar joint between the patella and the femur. Stability of the patellofemoral joint is dependent on the passive and dynamic restraints around the knee. In a normal knee the ligaments are inelastic and maintain a constant length as the knee flexes and extends, helping to control rolling, gliding and translation of the joint motions. Conclusions : It is important to remember that small alterations in joint alignment can result in significant alterations in patellofemoral joint stresses and that changes in the mechanics of the patellofemoral joint can also result in changes in the tibiofemoral compartments. Successful treatment requires the physical therapist to understand and apply these arthrokinematic concepts. When applied to PNF low extremity patterns, understanding of these mechanical concepts can maximize patient function while minimizing the risk for further symptoms or injury.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.2
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• pp.94-103
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• 1997

The WCHF-FSJTC (wavelet circular harmonic function frequency selective joint transform correlator) using th wavelet transformed CHF as the reference image in FSJTC is proposed for rotation invariant pattern recognition. Since the wavelet transform has the property of feature extraction, the proposed system can have the better DC (discrimination cpability) and the higher SNR(signal to noise ratio) compared with the conventional CHF-CJTC(circular harmonic function conventional joint transform correlator). And since the structure of the proposed system is FSJTC which can eliminate auto-correlation and cross-correlation between input images, it can eliminate false alarm caused by the overlapping among correlation peaks. The used wavelet functio is the morlet function, which is proper for the reference image used in this paper. the optimal dialation parameter and oscillation frequency of the wavelet function are also achieved with varying the parameters of the wavelet function. The computer simulation shows that the proposed system has the best performance when the dilation parameter is 0.8 and the oscillation frequency is 0.48.