• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Archives of Reconstructive Microsurgery
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• v.1 no.1
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• pp.9-16
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• 1992

Volkmann's ischemic contracture is the end result of an untreated, delayed or Inadequately decompressed compartment syndrome in which muscle ischemia and necrosis have occurred. Once the muscle necrosis have happened, the involved muscle undergo permanent change into fibrous tissue. So secondary shortening and distal joint contracture will be a final outcome, which results in marked functional impairment of hand and forearm. Even though several procedures, such as muscle sliding operation has been attempted, overall results were far from satisfaction, compare to healthy opposite hand. The management of these unfavorable condition of the forearm and hand was regarded as one of challenging area in orthopedics. Recently new approach, using microsurgical technique which transfers functioning muscle unit, has been developed and its result was much better than any other methods in the aspect of an active motion. Among these musculocutaneous free flaps, gracilis has obtained special reputation due to its easiness to handle such as elevation of flap and reliable neurovascular pedicle. Other advantages are flexibility of flap size to adjust variable size of the defect in the forearm and minor morbidity of the donor site. Authors have performed 7 cases of functioning gracilis musulocutaneous free flap transplantation for the functional loss of forearm and hand due to Volkmann's ischemic contracture or muscle and skin defect due to severe trauma since November, 1981 till May, 1991. The results in most cases were satisfactory and acceptable.

• Archives of Reconstructive Microsurgery
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• v.20 no.1
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• pp.38-42
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• 2011

Purpose: To evaluate the effect of intermittent bleeding method in the distal phalanx replantation. Materials and Methods: From January 2007 through June 2009, authors have replanted 117 cases of distal phalangeal amputation in adults at Soo Hospital and Chonbuk National University Hospital. Cases of zone II were 60 cases and zone III 57 according to Allen classification. Male to female ratio was 8.7:1.3. The most common cause was machinery injury in the factory, 98 cases(83.8%), next one was belt injury of the machine, 11 cases(9.4%) and others, 8(6.8%). At least one digital artery and digital nerve were anastomosed under the operating microscope, but vein was impossible to anastomosis as unable to find out in the zone II and III. After anastomosis of one or more digital arteries and nerves, heparine(6,000-10,000 units) was kept to intravenous injection for 24 hours and at the same time fish mouth incision in 2-3 millimeter diameter was made in the distal radial and ulnar margin of the replanted distal phanlanx. From the first 30 minutes to an hour after replantation, incision site was swabbed with heparinized cotton ball for 5 minutes in every 30 to 40 minutes to make sure perfusion for 24 hours, every an hour at the second day, every two hours at the postoperative third to fifth day. Results: 92 cases(78.6%) was completely survived at average postoperative third week follow-up and satisfied with preservation of the finger nail, digit length, good range of motion of the distal interphalangeal joint and acceptable sensibility at average 1.2 years follow-up. Conclusions: Intermittant bleeding method in replantation of crushed distal phalanx impossible to anastomosis of vein at zone II and III of Allen classification was regarded as one of the notable salvage procedure.

• Clinics in Shoulder and Elbow
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• v.11 no.1
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• pp.19-23
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• 2008

Purpose: To evaluate the bursoscopic findings of refractory primary adhesive capsulitis of the shoulder and to determine the clinical correlation. Materials and Methods: Arthroscopic capsular release was performed in 21 refractory adhesive capsulitis patients who had not responded to conservative treatment. The VAS for pain, range of motion, UCLA score was checked before and after surgery, and at the last follow up. Results: Bursitis, mild friction and impingement on coracoacromial ligament, as well as adhesion were observed. The function and pain improved earlier than after simple acromiohumeral joint capsular release. Conclusion: Subacromial bursoscopy helps rule out a hidden secondary frozen shoulder or secondary changes with primary adhesion. In addition, it has the advantage of being both a treatment and procedure for making a prognosis.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.1
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• pp.49-58
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• 2013

PURPOSE: The purpose of this study was to determine if auditory cues velocity has a greater effect on the gait pattern of patients with Parkinson's disease (PD) than the cues applied individually. METHODS: The subjects were 15 elderly patients diagnosed with PD, 15 healthy elderly persons. Patients were measured of three conditions performed in random order: slow, general, fast. The auditory cue velocity consisted of a metronome beat ${\pm}20%$ than the subject's general gait speed. Using a motion analysis and a force platform measurement system, changes in spatiotemporal variables, kinetic and kinematic variables were compared to gait analysis. RESULTS: Comparison between the auditory cues velocity, there was a significant difference in the spatiotemporal variables with regard to the cadence, stride length, support time, step length, double support time (p<.05). Comparison between the auditory cues velocity, there was a significant increase general and fast velocity gait than slow velocity gait in the maximum flexion in swing phase of knee joint (p<.05). There appears to be the aspect of an increasing ground reaction force (GRF) on the first peak in the vertical axis (p<.05). CONCLUSION: Auditory cues velocity improved of spatio-temporal factors, kinematic and kinetic factors depending on the velocity of the faster. Therefore at the rehabilitation training of PD patients auditory cues velocity would be used for recovery and gait reeducation, may arise through the patients functional ability.

• Korean Journal of Applied Biomechanics
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• v.25 no.3
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• pp.293-300
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• 2015

Objective : The purpose of this study was to compare the kinematic data of the horizontal rotation movements of shoulder, hip, knee during two-handed backhand drive stroke according to two different ball directions. Methods : The kinematic variables were analyzed such as the joint angles of the lower body, horizontal rotation angles of the shoulder, hip, inter-knee segment, body twist angle and difference in angle of forward swing. Two-handed backhand drive stroke was analyzed through a three-dimensional motion analysis. The collected data were analyzed by a paired t-test, and the statistical significant value was set at ${\alpha}=.05$. Results : The findings of this study were as follows; First, there was no difference in the total angles of lower limb joints from the forward swing position to impact posterior. Second, there was no difference in the horizontal rotation angles of E1 shoulder, hip, and E2 shoulder but the horizontal rotation angles of E1 knee, E2 hip, knee, E3, and E4 shoulder, hip, and knee were different in all events. Third, there was no difference in the body twist angle of the maximum horizontal rotation. In addition, there was no difference in the angle of the body twist by the ball direction in the shoulder-hip, the hip-knee and the shoulder-knee. Conclusion : Horizontal rotation angle determines ball directions.

• Korean Journal of Applied Biomechanics
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• v.21 no.5
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• pp.639-644
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• 2011

The purpose of this study was to provide quantified data on the throwing skills of world-class athletes and to analyze the kinematic variables for women shot-putters at the IAAF World Championships Daegu 2011. Three-dimensional motion analyses of the eight players who qualified for the final round were carried out to obtain the data. The Kwon3D XP program was used for image analysis of the kinematic data, which included the configurations of each joint. The following conclusions were arrived at. The throwing distance increased with an increase in the release speed, and a significant correlation (p <. 01) was observed between the throwing distance and release speed. It was also shown that players using the spin technique increased their release speed with a fast shoulder-rotation-angle speed. The release height varied with their height and showed a significant difference with the record. This showed that the release angle did not greatly influence the record for the game, but varied with their technical and physical characteristics. Therefore, an increase in release speed is required to improve the record.

• Physical Therapy Korea
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• v.9 no.3
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• pp.47-65
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• 2002

This study examined the correlations among the Berg Balance Scale, which is a clinical tool used to evaluate balance ability, spatiotemporal parameters of gait, and falling; determined the parameters most closely related to falling; and identified a discriminatory parameter and its predictability. Thirty-four subjects aged 72 to 92 years participated in this study. Following a questionnaire survey about falling, the Berg Balance Scale and spatiotemporal parameters of gait were measured. The results revealed that the incidence of falls increased with aging and an accompanying reduction in the flexion range of motion of the hip joint. The gait characteristics of elderly people who fell easily included a slower walking speed, shorter stride, and longer stance time than other elderly. When the cutoff score was set at 45, the Berg Balance Scale was able to identify correctly those individuals who truly have experience of falling than when the cutoff score was set at 39. But when the cutoff score was set at 39, the scale's specificity identifying correctly those individuals who truly have not experience of falling was higher than at the cutoff score of 45. Therefore, the Berg Balance Scale is an appropriate screening method in a clinical setting for the early detection of elderly people at risk of falling. In conclusion, elderly people with a Berg Balance Scale score. below 45 are the most likely to fall owing to their decreased balance ability.

• Physical Therapy Korea
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• v.11 no.1
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• pp.45-52
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• 2004

Altered scapular kinematics in the scapular joint is commonly believed to be a factor contributing to trunk posture. The purpose of this study was to analyze the muscle activity with several changes of the shoulder angle. Tests were performed on 10 male subjects by repeated measures. Each subject was measured while sitting in both erect and slouched trunk positions. In each sitting posture, a three-dimensional motion analysis measurement was used to measure thoracic angle and shoulder abduction angle. Measurements were taken with the shoulder abdcution angle at $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, $90^{\circ}$, $120^{\circ}$, and $150^{\circ}$. By using surface Electromyography (EMG) electrodes, we recorded the activity of the upper trapezius, middle trapezius, lower trapezius, middle deltoid, and serratus anterior muscle while the subject held a 4 kg weight at each angle. The mean of root mean square (RMS) of EMG activity was calculated. The middle trapezius, lower trapezius, and middle deltoid muscle activity showed significantly higher results but serratus anterior muscle activity showed significantly lower results (p<.05). With the shoulder angle increased, the muscle activity was also significantly increased (p<.05). In conclusion, the thoracic spine posture significantly affects the scapular muscle during scapular plane abduction, and the slouched posture is associated with increased trapezius muscle activity and with decreased serratus anterior muscle activity.