• 한국컴퓨터정보학회논문지
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• 제28권11호
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• pp.161-168
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• 2023

본 연구의 목적은 비 체중지지 자세 상태에서 발목관절 발등굽힘 관절가동범위에 따라 동적 균형 능력을 평가하는 Y-Balance Test와의 관계를 규명하고자 하였다. 본 연구에는 10년 이상의 축구경력을 가진 K3리그에 정기적으로 참여하는 남자축구선수 27명이 참여하였다. 발목관절의 발등굽힘과 동적균형 능력과의 관계를 검증하기 위해 The Pearson Rank Correlation Coefficient를 사용하였다. 본 연구의 결과 HADR군에서 PLRD(P<.05)와 CS(P<.01)에서 유의한 차이가 나타났으며, 발목관절 발등굽힘의 관절가동범위와 PMRD, PLRD 및 CS에서만 중증도의 유의한 상관관계가 나타났다. 따라서 발목관절 발등굽힘의 감소는 균형 능력 감소와 관련이 있으며, 축구선수의 손상을 예방하기 위해서는 정기적인 발목관절 관절가동범위의 평가뿐만 아니라 무릎과 엉덩관절의 근력 및 고유수용감각을 향상시키기 위한 트레이닝이 필요할 것으로 생각된다.

• 대한정형도수물리치료학회지
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• 제13권2호
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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.

• 정보교육학회논문지
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• 제12권4호
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• pp.469-476
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• 2008

다관절 로봇 교육 효과의 향상을 위해서는 제어 소프트웨어를 통해 로봇의 동작을 쉽게 개발할 수 있어야 한다. 기존의 다관절 로봇 개발기법은 매우 복잡한 구현을 교육해야하지만, 우리의 도구는 로봇의 동작을 쉽게 하여 제어나 움직임에 대한 창의적인 활동을 가능하게 한다. 본 논문에서 교육용 다관절 로봇의 동작 제어를 쉽고 빠르게 프로그램화하기 위해서, 모션 생성 도구를 개발하였다. 우리는 도구를 통해 정확하고 쉽게 프로그램을 교육하고자 한다. 본 논문에서 제안한 모션 생성 도구는 기존의 복잡한 언어 제어 프로그램 방식을 탈피하였을 뿐만 아니라 사용자 편의성 중심이라는 GUI(Graphic User Interface) 방식보다도 쉽게 로봇 제어를 할 수 있었다. 또한 편리한 로봇 동작 구현은 물론 교육적으로 활용되는 마이크로프로세서 실험 장치에서도 적용이 가능하다.

• 대한정형도수물리치료학회지
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• 제23권1호
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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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• 제22권4호
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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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• 제38권2호
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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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• 제19권3호
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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.

• 대한기계학회논문집A
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• 제25권1호
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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.

• 한국공작기계학회논문집
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• 제11권6호
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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.

• 한국운동역학회지
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• 제14권1호
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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.