• 한국정밀공학회지
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• 제17권1호
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• Archives of Plastic Surgery
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• 제38권6호
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• pp.821-828
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• 2011

Purpose: The authors applied Bilhaut-Cloquet procedure to Wassel type III and IV duplicated thumb, which was limited to patients with Wassel type I, II. This procedure was applied in order to improve the growth potential, range of joint motion, joint stability and cosmetic outcome. Methods: Sixteen patients received Bilhaut-Cloquet procedures to correct duplicated thumbs from May, 2005 to December, 2010. Seven patients were Wassel type III, nine patients were type IV. This procedure was applied not only to balanced type, but also unbalanced type or convergent type. Five patients were balanced type and eleven patients were unbalanced type. Convergent type of Wassel type IV was three. Sex ratio was the same, mean age at the operation was 20.1 months old (8~52 months old). Angular deformity, joint stability and range of joint motion and cosmetic outcome were considered together and estimated in Tada score. Also, postoperative subjective satisfaction score of the parents was evaluated by a 100-points scale. Results: Mean subjective satisfaction scored 75 points at 28 months after the operation. Radiologic study showed bony union of proximal phalangeal bone and stable joint in all patients. Range of motion was mean 20 degrees in interphalangeal joint and mean 73 degrees in metacarpophalangeal joint. Tada score showed 'good' in eleven patients (68.8%), 'fair' in three patients (18.7%) and 'poor' in two patients (12.5%). In seven patients those who were able to follow up for a long term showed no significant difference in length of proximal and distal phalangeal bones compared to the opposite thumb. Conclusion: Bilhaut-Cloquet procedure can be applied not only to balanced type of Wassel type III, IV duplicated thumb, but also to unbalanced type or convergent type that focused on functional reconstruction and cosmetic improvement.

• 대한의용생체공학회:의공학회지
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• 제24권3호
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• pp.209-215
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• 2003

본 연구에서는 지면반발력에 저항하는 족부관절의 기구학적 특성과 운동학적 특성 사이의 관계를 고찰하는 것을 목적으로 하였다. 관절의 수동탄성모멘트와 각변위는 3대의 카메라와 지면반발력 측정기를 이용한 실험을 통하여 얻어졌다. 최소자승법을 이용하여 관절의 각변위와 모멘트의 상관 관계를 수학적으로 모델링 하였다. 관절의 운동 범위(range of motion)는 중족지절관절(metatarsophalangeal joint)을 제외하고는 5$^{\circ}$~7$^{\circ}$ 값을 보였다. 이 모델을 이용하여 지금까지 일반적인 모션 분석으로부터 측정할 수 없었던 족부관절의 기구학적 데이터를 얻을 수 있다. 더 나아가 이러한 수학적은 보행을 시뮬레이션 하는 생체 역학적 모델과 임상적 평가에도 적용 가능하다.

• 한국전문물리치료학회지
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• 제26권3호
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• pp.23-31
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• 2019

Background: Measurement of passive ankle dorsiflexion range of motion (ADROM) is often part of a physical therapy assessment. Objects: The objective of this study was to identify the effects of subtalar joint neutral position (SJNP) on passive ADROM according to knee position in young adults. Methods: We recruited 14 young adult participants for this study. Two examiners used a universal goniometer to measure passive ADROM with and without SJNP. Dorsiflexion force was applied to the forefoot until maximum resistance was reached in two knee positions (extension and $90^{\circ}$ flexion) in the prone position. Subtalar joint position was also recorded at maximum ADROM. Passive ADROM was measured three times at different knee and subtalar joint positions, in random order. Two-way repeated-measures analysis of variance was used to compare the effects of subtalar joint and knee position on passive ADROM. Results: Passive ADROM was significantly lower with than without SJNP during both knee extension (mean difference: $7.4^{\circ}$) and $90^{\circ}$ flexion (mean difference: $16.9^{\circ}$) (p<.01). Passive ADROM was significantly higher during $90^{\circ}$ knee flexion than during knee extension both with (mean difference: $5.8^{\circ}$) and without SJNP (mean difference: $15.2^{\circ}$) (p<.01). The valgus position of the subtalar joint was significantly lower with than without SJNP during both knee extension (mean difference: $3.3^{\circ}$) and $90^{\circ}$ flexion (mean difference: $4.3^{\circ}$) (p<.01). Conclusion: Our results indicate that the gastrocnemius may limit ankle dorsiflexion more than the soleus does. Greater dorsiflexion at the subtalar and midtarsal joints was observed during passive ADROM measurement without than that with SJNP; therefore, SJNP should be maintained for accurate measurement of ADROM.

• PNF and Movement
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• 제16권2호
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• pp.169-178
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• 2018

Purpose: This study aimed to investigate the effect of angular joint mobilization (AJM) on the shoulder pain, range of motion, and functional improvement in a patient with shoulder adhesive capsulitis. Methods: The patient diagnosed with right shoulder adhesive capsulitis by an orthopedic surgeon was a 60-year-old male, right hand/arm dominant, with a height of 175 cm and weight of 75 kg. The patient received 12 sessions of AJM once or twice per week for eight weeks. AJM was applied for 5 min each of flexion, abduction, external rotation, internal rotation, for a total of 20 min per session. The visual analog scale, the goniometer, and the Oxford shoulder score were used to measure pain, range of motion, and shoulder pain & disability index, respectively. Results: After all the treatments, the pain decreased from 6 to 2 points. The range of motion increased in flexion by $54.3^{\circ}$ from $125^{\circ}$ to $179.3^{\circ}$, abduction by $38^{\circ}$ from $140^{\circ}$ to $178^{\circ}$, external rotation by $54.4^{\circ}$ from $30.3^{\circ}$ to $84.7^{\circ}$, and internal rotation by $25^{\circ}$ from $45^{\circ}$ to $70^{\circ}$. The shoulder disability index decreased from 33 points to 17 points. Conclusion: This study found that AJM has a positive effect on the improvement of shoulder pain, range of motion, and function in a patient with shoulder adhesive capsulitis. Further studies on AJM are needed in the future.

• The Journal of Korean Physical Therapy
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• 제15권3호
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• pp.166-172
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• 2003

The aim of this study is to present the basic reference data of age and specific gait parameters for comparisons of the gait characteristics depended on amputation length of the Unilateral Trans-Tibial Prostheses. The basic gait parameters were extracted from 10 Adult, and 20 below knee(B/K) patients, 50 to 60 years of age using VICON 512 Motion Analyzer. The results were as follows; 1. The mean Cadence of the above knee(A/K) patients and below knee(B/K) patients were $87.77{\pm}8.64$ steps/min, to $99.84{\pm}11.14$ steps/min.(p<0.05) 2. The mean Walking Speed of the above knee(A/K) patients and below knee(B/K) patients were $0.84{\pm}0.15$ m/s, to $0.96{\pm}0.25$ m/s.(p>0.05) 3. The mean Stride Length of the above knee(A/K) patients and below knee(B/K) patients were $1.14{\pm}0.14\;m$, to $1.14{\pm}0.22m$.(p>0.05) 4. The mean maximal angles of joint on the hip flexion motion for different above knee(A/K) patients and below knee(B/K) patients were $34.75{\pm}10.18_{\circ}$, to $32.32{\pm}6.34_{\circ}$.(p>0.05) 5. The mean maximal angles of joint on the knee flexion motion for different above knee(A/K) patients and below knee(B/K) patients were $66.97{\pm}15.08_{\circ}$, to $52.65{\pm}9.21_{\circ}$. (p<0.05) 6. The mean maximal angles of joint on the ankle dorsi-flexion motion for different above knee(A/K) patients and below knee(B/K) patients were $14.41{\pm}4.82_{\circ}$, to $10.04{\pm}3.49_{\circ}$.(p>0.05) 7. The mean maximal angles of joint on the ankle plantar-flexion motion for different above knee(A/K) patients and below knee(B/K) patients were $5.77{\pm}3.17_{\circ}$, to $2.75{\pm}4.49_{\circ}$.(p>0.05)

• 대한의용생체공학회:의공학회지
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• 제36권5호
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• pp.228-234
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• 2015

The balance ability significantly decreased in the elderly because of deterioration of the neural musculature regulatory mechanisms. Several studies have investigated methods of improving balance ability using real-time systems, but it is limited by the expensive test equipment and specialized resources. Recently, Kinect system based on depth data has been applied to address these limitations. Little information about accuracy/inaccuracy of Kinect system is, however, available, particular in motion analysis for evaluation of effectiveness in rehabilitation training. Therefore, the aim of the current study was to evaluate accuracy/inaccuracy of Kinect system in specific rotational movement for balance rehabilitation training. Six healthy male adults with no musculoskeletal disorder were selected to participate in the experiment. Movements of the participants were induced by controlling the base plane of the balance training equipment in directions of AP (anterior-posterior), ML (medial-lateral), right and left diagonal direction. The dynamic motions of the subjects were measured using two Kinect depth sensor systems and a three-dimensional motion capture system with eight infrared cameras for comparative evaluation. The results of the error rate for hip and knee joint alteration of Kinect system comparison with infrared camera based motion capture system occurred smaller values in the ML direction (Hip joint: 10.9~57.3%, Knee joint: 26.0~74.8%). Therefore, the accuracy of Kinect system for measuring balance rehabilitation traning could improve by using adapted algorithm which is based on hip joint movement in medial-lateral direction.

• The Journal of Korean Physical Therapy
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• 제16권2호
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• pp.108-115
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• 2004

The aim of this study is to present the basic reference data of age and specipic gait parameters for comparisons of the gait characteristics depended on Unilateral Trans-Femoral or Trans-Tibial Prostheses. The basic gait parameters were extracted from 10 Adult, 10 above knee(A/K) patients and 10 below knee(B/K) patients, 50 to 60 years of age using VICON 512 Motion Analyzer. The results were as follows; 1) The mean Cadence of the above knee(A/K) patients and below knee(B/K) patients were $87.77{\pm}8.64$ steps/min, to $99.84{\pm}11.14$ steps/min.(p<0.05) 2) The mean Walking Speed of the above knee(A/K) patients and below knee(B/K) patients were $0.84{\pm}0.15$ m/s, to $0.96{\pm}0.25$ m/s.(p>0.05) 3) The mean Stride Length of the above knee(A/K) patients and below knee(B/K) patients were $1.14{\pm}0.14$ m, to $1.14{\pm}0.22$m.(p>0.05) 4) The mean maximal angles of joint on the hip flexion motion for different above knee(A/K) patients and below knee(B/K) patients were $34.75{\pm}10.18_{\circ}$, to $32.32{\pm}6.34_{\circ}$ .(p>0.05) 5) The mean maximal angles of joint on the knee flexion motion for different above knee(A/K) patients and below knee(B/K) patients were $66.97{\pm}15.08_{\circ}$, to $52.65{\pm}9.21_{\circ}$ .(p<0.05) 6) The mean maximal angles of joint on the ankle dorsiflexion motion for different above knee(A/K) patients and below knee(B/K) patients were $14.41{\pm}4.82_{\circ}$, to $10.04{\pm}3.49_{\circ}$ .(p>0.05) 7) The mean maximal angles of joint on the ankle plantarflexion motion for different above knee(A/K) patients and below knee(B/K) patients were $5.77{\pm}3.17_{\circ}$, to $2.75{\pm}4.49_{\circ}$ .(p>0.05)

• 정보처리학회논문지B
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• 제18B권4호
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• pp.193-200
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• 2011

본 논문은인간-컴퓨터 인터페이스, 가상현실의 의학 응용, 환자의 원격 모니터링과 같은 실시간 응용 분야에 적합한 인체 운동의 시각적 해석 알고리즘 (visual analyzer algorithm)을 제안한다. 본 알고리즘을 사용할 때의 비용을 줄이기 위해서, 단수의 카메라를 사용하도록 설계한다. 그리고 제안한 알고리즘을 좀 더 편리하게 사용할 수 있도록 하기 위해서 광학적 표시자의 사용을 피한다. 제안하는 알고리즘이 실시간 사용에 편리하도록 하기 위해서, 폐쇄적 형태가 되도록 설계한다. 폐쇄적 형태의 알고리즘을 설계하기 위해서, 인체의 각 관절을 기존의 3차원 관절 모델 대신 어떤 형태의 근사화도 사용하지 않고도 2차원 관절 모델로 공식화하는 아이디어를 제안한다. 그리고 이 폐쇄적 형태의 알고리즘이 높은 정확도를 갖게 하기 위해서, 계산 알고리즘을 최적화 문제로 공식화한다. 이렇게 해서 설계된 알고리즘을 인체의 각 관절에 차례대로 적용한다.

• PNF and Movement
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• 제19권3호
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• pp.361-374
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• 2021

Purpose: The study aimed to investigate the effects of neural mobilization with joint mobilization on dysfunction, pain, and range of motion in cervical radiculopathy patients. Methods: Forty-seven cervical radiculopathy patients were recruited for the study. The subjects were randomly allocated to three groups. Group A (n=16) received a neural mobilization with joint mobilization, Group B (n=15) received a neural mobilization (NM), Group C (n=16) received a joint mobilization (JM). All groups had five sets for a day, three days a week, for four weeks. All subjects were evaluated before and after intervention by their neck disability index (NDI), numeric pain rating scale (NPRS), and range of motion (ROM). Results: The results were as follows: First, the NDI was significantly decreased in all groups (p<0.05). Group A had more significantly decreased NDI than Group B and C (p<0.05). Secondly, the NPRS was significantly decreased in all groups (p<0.05). Group A had more significantly decreased cervical NPRS than Group B (p<0.05). Groups A and B were more effective at decreasing upper extremity NPRS than Group C (p<0.05). Thirdly, the ROM was significantly increased in all the groups (p<0.05). Group A had more significantly improved cervical rotation ROM than Group B (p<0.05). Significant short-term effects of the NM with JM on dysfunction, pain, and range of motion in cervical radiculopathy patients were recorded in this study. Conclusion: These findings gave some indications that it may be feasible to include NM with JM in interventions with cervical radiculopathy patients.