• Journal of the Korea Society of Computer and Information
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• v.28 no.11
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• pp.161-168
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• 2023

The purpose of this study was to determine the relationship with the Y-Balance Test, which evaluates dynamic balance ability according to the ankle joint dorsiflexion range of motion in a non-weight bearing posture. This study involved 27 male soccer players who regularly participate in the K3 League with more than 10 years of soccer experience. The Pearson Rank Correlation Coefficient was used to verify the relationship between ankle joint dorsiflexion and dynamic balance ability. The results of this study showed significant differences in PLRD (P<.05) and CS (P<.01) in the HADR group. A significant correlation between ankle joint dorsi-flexion range of motion and severity was found only in PMRD, PLRD, and CS. Therefore, a decrease in ankle joint dorsi-flexion is associated with a decrease in balance ability. In order to prevent injuries in soccer players, it is believed that regular evaluation of ankle joint range of motion as well as training to improve knee and hip joint strength and proprioception are necessary.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.13 no.2
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• pp.1-11
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• 2007

Purpose: The purpose of this study was to determine the effect of continuous wave ultrasound and pulsed wave ultrasound that influence changes in pain and range of motion when applied to patients with temporomandibular joint disability. Methods: The subjects of the study were 40 selected patients who had been diagnosed with temporomandibular joint movement restriction and had endured pain for more than two weeks. These patients had visited K orthopedic surgery in Deagu measured from October 1, 2004 to March 31, 2005. The subjects were divided into two groups with 20 patients each. The one group was applied to continuous wave ultrasound and the other group was applied to pulsed wave ultrasound at a dosage of 1.5 W/$cm^2$ for a duration of 5 minutes and eight times for two weeks. The pain perception degree were measured by using Visual Analogue Scale(VAS) and the range of motion was measured by using a rule for each group. Results: The results obtained were as follows The change in the pain perception degree were statistically significant in both group(p<0.05) ; however, the continuous wave ultrasound group showed more difference in the average decrease in the pain perception degree than did the pulsed wave ultrasound group. Both groups showed significant results regarding changed in the range of motion(p<0.05) ; Comparing the difference in the average of the range of motion between the two groups, came back from normal the range of motion of temporomandibular joint at the both groups. Conclusion : Based on the results of this study, we found that both groups showed decreased pain and increased the range of motion, but the continuous wave ultrasound method had a higher therapy effect pain and the range of motion than the pulsed wave ultrasound method to patients with temporomandibular joint disability. With such finding, we expect that according to ultrasound therapy applicant method can be helped usable accurately to patients with variety symptoms temporomandibular joint disability.

• Journal of The Korean Association of Information Education
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• v.12 no.4
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• pp.469-476
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• 2008

To enhance the educational effect of Multi-Joint Robot have to easily develop motion through the control software. The traditional way of development technique for multi-joint robot is educated with very complicated implementation, but our motion creation tool can be possible to do the creative activity for controling robot movements with ease. This paper mentions to develop the motion creation tool for easily and quickly programming the motion control of multi-joint robot on the educational program. With this tool we easily and exactly provide the education of robot program. In this paper, our suggested tool could not only evade the traditional way of a complicated control program using programming languages but also control easier the robot than the GUI(Graphic User Interface) programming centered on the user's convenience. Additionally, the robot motion's implementation is possible applied with microprocessor experimental equipment educationally to practical use.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.23 no.1
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• pp.7-13
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• 2017

Background: To evaluate the effect of Kinesio taping applied on the ankle instability, joint range of motion and balance. Methods: The participants included in this study were male and female, 20~30 ages, who experiencing an ankle sprain or had chronic pain, did not exercise during the intervention, and did not experience severe exercise at least 3 weeks before. A total of twenty-four participants were divided into two groups: Kinesio taping applied group (n=12) and control group (n=12). The experiment was conducted for a three days. Measurements were taken for ankle joint range of motion using goniometer, and measurements were taken for balance using good balance system. Pre-test measurements were conducted on before Kinesio taping apply, and 24 hours after, 48 hours after, 72 hours after measurements were conducted. Statistical analysis was done using a independent samples t-test and repeated measure ANOVA. Results: There were significant differences to the duration of intervention in ankle joint range of motion and balance within the both group. However, there was a significant differences Kinesio taping group when comparing the groups. Conclusions: According to the results of this study, applying Kinesio taping to ankle instability is more effective on ankle joint range of motion and to recover balance.

• The Journal of Korean Physical Therapy
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• v.22 no.4
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• pp.57-64
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• 2010

Purpose: This study aimed to determine whether there are differences in subtalar joint range of motion (ROM) when using different measurement methods, and to determine inter- and intra-rater reliability of goniometry as used in clinical setting. Methods: Subjects were thirty-one healthy males and females (sixty-two ankles) living in Korea. Three raters with different clinical experiences measured inversion and eversion range of motion of the subtalar joint two times. Measurements were done with subjects prone (open kinetic chain) and standing (closed kinetic chain). Rater and measurement methods were based on analyzing differences in range of motion. Intra-class correlation coefficients (ICCs) were calculated to determine intra-rater and inter-rater reliability. Results: Mean subtalar jont range of motion for inversion ranged from $9.31^{\circ}$ to $11.94^{\circ}$ for eversion, it ranged from $6.73^{\circ}$ to $9.20^{\circ}$. The differences in ROM between raters and between measurement methods were significant (p<0.01). The ICCs for interrater reliability ranged from $0.02^{\circ}$ to $0.20^{\circ}$ for inversion and from $0.23^{\circ}$ to $0.39^{\circ}$ for eversion. Intrarater reliability ranged from $0.32^{\circ}$ to $0.78^{\circ}$ for inversion and from $0.45^{\circ}$ to $0.73^{\circ}$ for eversion. Conclusion: Subtalar joint inversion and eversion ROM show differences for measurement methods low reliability between different raters, and low to high intra-rater reliability within sessions.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Journal of Information Processing Systems
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• v.19 no.3
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• pp.370-376
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• 2023

Aiming at the problems of low image enhancement accuracy, long enhancement time and poor image quality in the traditional robot sequence motion image enhancement methods, an adaptive enhancement method for robot sequence motion image is proposed. The feature representation of the image was obtained by Karhunen-Loeve (K-L) transformation, and the nonlinear relationship between the robot joint angle and the image feature was established. The trajectory planning was carried out in the robot joint space to generate the robot sequence motion image, and an adaptive homomorphic filter was constructed to process the noise of the robot sequence motion image. According to the noise processing results, the brightness of robot sequence motion image was enhanced by using the multi-scale Retinex algorithm. The simulation results showed that the proposed method had higher accuracy and consumed shorter time for enhancement of robot sequence motion images. The simulation results showed that the image enhancement accuracy of the proposed method could reach 100%. The proposed method has important research significance and economic value in intelligent monitoring, automatic driving, and military fields.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.89-97
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• 2001

In this paper, we present a new two-dof anthropomorphic joint mechanism that enables to mimic the humanlike motion. The proposed mechanism, called Double Active Universal Joint(DAUJ), generates a two-dof swivel motion without rolling by the coupled motion of two independent motor. In addition, we perform basic experiments to confirm the effectiveness of the proposed mechanism and the results are reported.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• Korean Journal of Applied Biomechanics
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• v.14 no.1
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• pp.145-160
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• 2004

The purposes of this study to provide quantitative data in necessary to advance techniques kinematic analysis of Cucarachas which is an action of Rumba. Then, this study is performed on 5 female players who have won within the third prize at a national athletic meeting. When whole foot reached to floor, Displacement of right-left hip joint (until $E1{\sim}E3$ average moved 15.15cm)is found at right-left direction since the hip joint is turned to right back. On the other side, large displacement is shown because Rumba Cucaracha Movement is expressed by maximum shift of hip joint to right and left direction. Displacement of right hip joint(E3$57.40{\pm}7.46$) is found in front and in rear direction since hip joint is moved in rear and in front to turn the hip joint. It may be stated that this is ideal displacement expressed by movement of whole body with artistic poise and presentation because role of hip joint is very important in technical and artistic side. Angle of right shoulder joint E2($105.44{\pm}9.64$) is got wider. It may be stated that player shifts up and abduct elbow joint to right since center of gravity of player is exceedingly shifted to right in this motion of Cucarachas. On the other hand, since this motion is abducted right elbow and shrunk external abdominal oblique to him center of body to left front of hip joint, the angle becomes narrow. It is shown that angle of knee in right knee joint E4($75.44{\pm}2.61$) is large since right leg and hip joint is turned by foot using reaction of ground and so center of body is shifted to left. Large angle of ankle E4($134.40{\pm}10.50$) in Cucaracha Movement is shown by the action of twist force using narrow part of foot and compression force against ground with adduction speed of arm. The various kinematic analyses associated with motions of dance sport have not been sufficiently peformed so far, and thus a number of research projects for dance sport should be proposed and performed to be continuous.