• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
• /
• pp.445-449
• /
• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 한국운동역학회지
• /
• 제26권4호
• /
• pp.369-375
• /
• 2016

Objective: The purpose of this study was to investigate the possibility of injuries and the types of movement related to damage by body parts, and to prepare for prevention of injuries and development of a training program. Method: For this study, the experiment was conducted according to levels of 60 percentages (ST) and 85 percentages (MA) and 10 subjects from the Korean elite national weightlifting team were included. Furthermore, we analyzed joint moment and muscle activation pattern with three-dimensional video analysis. Ground reaction force and EMG analyses were performed to measure the factors related to injuries and motion. Results: Knee reinjuries such as anterior cruciate ligament damage caused by deterioration of the control ability for the forward movement function of the tibia based on the movement of the biceps femoris when the rectus femoris is activated with the powerful last-pull movement. In particular, athletes with previous or current injuries should perceive a careful contiguity of the ratio of the biceps femoris to the rectus femoris. This shows that athletes can exert five times greater force than the injury threshold in contrast to the inversion moment of the ankle, which is actively performed for a powerful last pull motion and is positively considered in terms of intentional motion. It is activated by excessive adduction and internal rotation moment to avoid excessive abduction and external rotation of the knee at lockout motion. It is an injury risk to muscles and ligaments, causing large adduction moment and internal rotation moment at the knee. Adduction moment in the elbow joint increased to higher than the injury threshold at ST (60% level) in the lockout phase. Hence, all athletes are indicated to be at a high risk of injury of the elbow adductor muscle. Lockout motion is similar to the "high five" posture, and repetitive training in this motion increases the likelihood of injuries because of occurrence of strong internal rotation and adduction of the shoulder. Training volume of lockout motion has to be considered when developing a training program. Conclusion: The important factors related to injury at snatch include B/R rate, muscles to activate the adduction moment and internal rotation moment at the elbow joint in the lockout phase, and muscles to activate the internal rotation moment at the shoulder joint in the lockout phase.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
• /
• 제28권4호
• /
• pp.286-289
• /
• 2002

In the treatment of mandibular condylar fractures, arthrocentesis, lavage and selective intermaxillary fixation were performed after closed reduction. In this lavage group, the physiotherapy performed for 3-6 months after injury. in control group, continuous intermaxillary fixation was done for 1-3 weeks, and physiotherapy followed in the same method of the lavage group. In the comparative study of the both groups, the following results are shown. 1. Compared to control group, the lavage group had a slightly superior result at range of motion, joint pain and occlusal deviation, from I day after arthrocentesis to 6 months after injury. 2. The significant differences between both groups were seen at range of motion and joint pain in 1 month after injury. 3. At 6 months after injury, the differences between both groups were not significant at range of motion, joint pain and occlusal deviation. From this study, in the mandibular condylar fracture, the arthrosentesis, lavage and selective intermaxillary fixation after closed reduction can improve symptoms such as joint pain and occlusal deviation, also increase range of motion. in this therapeutic way, intracapsular hemarthrosis which can cause TMJ ankylosis or dysfunction can be removed effectively. in addition, patient's discomfort such as swallowing disturbance, speech disturbance and emotional stress can be reduced signuficantly.

• 로봇학회논문지
• /
• 제13권2호
• /
• pp.129-141
• /
• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• 대한의용생체공학회:의공학회지
• /
• 제30권3호
• /
• pp.241-246
• /
• 2009

Since inappropriate muscle forces mean that people cannot perform some activities related to roles of the muscle, muscle forces have been considered as an important parameter in clinic. Therefore, many methods have been introduced to estimate muscle forces indirectly. One of the methods is muscle tissue dynamics and it is widely used in commercial softwares including musculoskeletal model, such as SIMM. They, however, need motion data captured from 3-dimensional motion analysis system. In this study, we introduced an algorithm to estimate muscle forces in real-time by using joint angles. The heel-rise movements were performed for a normal with 3-dimensional motion analysis system, EMG measurement system, and electrogoniometers. Joint angles obtained from electrogoniometers and EMG signals were used to estimate muscle forces. Simulation was performed to find muscle forces using motion data which was imported into musculoskeletal software. As the results, muscle lengths and forces from the developed algorithm were similar to those from commercial software in pattern. Results of this study would be helpful to implement a tool to calculate reasonable muscle forces in real-time.

• Journal of Acupuncture Research
• /
• 제32권2호
• /
• pp.197-207
• /
• 2015

Objectives : The purpose of this study is to report the effect of Korean medical treatment on 4 patients with acute traumatic meniscal tear, presenting severe knee pain and limitation of range of motion of the knee joint. Methods : 4 patients with acute traumatic meniscal tear had been treated with acupuncture, herbal treatment, moxibustion, and wet-cupping therapy. From administration to discharge, we recorded subjective pain by using a visual analogue scale and by measuring the range of motion of the knee joint once per week. Results : The visual analogue scale of knee pain of all 4 cases reduced to 0 after treatment. The range of motion of the knee joint also increased considerably after treatment. Conclusions : In this study, Korean medical treatment may have been effective in reducing knee pain and increasing the range of motion of the knee joint.

• 임상간호연구
• /
• 제24권3호
• /
• pp.283-292
• /
• 2018

Purpose: This study was conducted to evaluate the effects of early knee joint exercise education program on pain, knee ROM, and satisfaction among patients with a total knee replacement arthroplasty. Methods: An experimental study with non-equivalent groups was conducted using 32 patients for an experimental group and 32 patients for a control group. The experimental group received knee joint exercise education including systemic continuous passive motion (CPM) exercise and knee exercise. The control group received conventional CPM exercise. Pain, flexion and flexion contracture range of motion, and patient satisfaction were evaluated by $x^2$ test, Fisher's exact test, t-test, and repeated measures ANOVA using the SPSS 23.0 Windows program. Results: There were a significant improvement in patients' knee flexion and satisfaction in the experimental group compared to the control group. There was no significant difference in pain and flexion contracture between the two groups. Conclusion: The findings suggest that the proposed education program is efficient and effective when providing nursing care after a total knee replacement arthroplasty.

• 한국안전학회지
• /
• 제16권1호
• /
• pp.73-78
• /
• 2001

It has been proposed that the acceptable level of discomfort was a valid measure of postural loading. Although the number of women employees has increased at a much faster rate than men workers did and female workers are thought to be more vulnerable to musculoskeletal disorders, most previous studies dealt with perceived discomforts for joint motions focused on male subjects. This study aims to measure perceived discomfort ratings of females for static joint motions. Ten female subjects participated in the experiment measuring perceived discomforts, in which almost every possible joint motion was included and the free modulus method of the magnitude estimation was employed. The results showed that discomfort levels were dependent on the joint motions and joints, and subjective discomfort ratings of women were significantly larger than those of men.

• 대한인간공학회지
• /
• 제20권3호
• /
• pp.11-25
• /
• 2001

AS human movements have the inherent property of anticipating target and can be coordinated to realize a given schedule, finger movements have stereotyped patterns during hand grasping. Finger movements have been studied in the past to find out the coordination pattern of hand joint angular movement. These studies analyzed only a few finger joints for a limited number of hand postures. This study investigated fourteen joint angles during eight hand-grasping motions to analyze the angular correlations between finger joints and to suggest motion factors which represent hand grasping. Hand grasping motions including forward arm motion were examined in ten healthy volunteers. Eight objects were used to represent real hand grasping tasks. $CyberGlove^{TM}$ and $Fasreack^{TM}$ measured hand joint angles and wrist origin. Joint angle correlations between PIJ(proximal interphalangeal joint) and MPJ(metacarpophalangeal joint) at one finger, between neighboring PIJs and MPJs were four factors related to the fast phase of hand grasping motions and eight factors related to the slow phase of hand grasping motions.

• 대한의용생체공학회:의공학회지
• /
• 제36권5호
• /
• pp.235-239
• /
• 2015

The purpose of this study was to investigate the unstable plate system for the advanced balance ability. 7 male volunteers (age $33.7{\pm}1.2$ years, height $174.7{\pm}3.8cm$, weight $86.0{\pm}3.6kg$, BMI $28.2{\pm}2.0kg/m^2$) performed the partial squat motion on the shape of CAP type(${\cap}$) and BOWL type(${\cup}$) plate system. The range of motion (ROM) and muscle activation were acquired by the motion analysis system and the EMG system. Results of ROMs of the CAP type plate system were shown the widely range of the deviation in the ankle joint on the sagittal plane (sagittal plane - hip joint $10.7^{\circ}$ > $5.4^{\circ}$, knee joint $16.3^{\circ}$ > $6.4^{\circ}$, ankle joint $18.8^{\circ}$ > $6.3^{\circ}$ ; transverse plane - hip joint $3.5^{\circ}$ > $1.8^{\circ}$, knee joint $5.3^{\circ}$ > $3.4^{\circ}$, ankle joint $11.3^{\circ}$ > $5.3^{\circ}$ ; frontal plane - hip joint $0.9^{\circ}$ > $0.5^{\circ}$, knee joint $0.8^{\circ}$ > $0.6^{\circ}$, ankle joint $4.8^{\circ}$ > $3.7^{\circ}$). Muscle activation results of the CAP type plate system were indicated higher in major muscles for balance performance than the BOWL type plate system (vastus lateralis 0.90 > 0.62, peroneus longus 0.49 > 0.21, biceps femoris 0.38 > 0.14, gastrocnemius 0.11 > 0.05). These findings may indicate that the CAP type plate system would expect better effectiveness in perform the balance training. This paper is primary study for developing balance skills enhancement training device.