• 한국정밀공학회지
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• 제24권4호
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• pp.109-114
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• 2007

The mobility (degree of freedom) of mechanisms can be regarded as independent coordinate to define its position. This concept is essential for kinematics, and for designing mechanisms in the practical point of view. Gruebler's equation has been applied to estimate the mobility using number of links and joints of a mechanism. In practical case, there are many types of mechanisms, which transfer motion by direct contact between two links. However, no exact kinematic definition has existed for the joint that the contact takes place in a mechanism. In this paper, a new concept of contact joint is defined and modified Gruebler's equation is suggested to calculate mobility of a mechanism with the joint. This concept would be useful in mechanism design because it will be possible to manage many contact mechanisms with kinematic exactness.

• 산업기술연구
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• 제18권
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• 로봇학회논문지
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• 제14권4호
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• pp.237-244
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• 2019

This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

• 대한통합의학회지
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• 제5권4호
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• pp.41-48
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• 2017

Purpose : The purpose of this study was to verify the relationships among the knee adduction moment, hip rotation range, strength of hip rotators, and Foot Posture Index of healthy young adults. Method : Thirty-two healthy adults(24 male, 8 females) participated in this study. Subjects performed 5 walking trials to evaluate the knee adduction moments using a three-dimensional motion analysis system. Hip rotation ranges and hip rotator strengths were measured using a standard goniometer and a handheld dynamometer, respectively. The mean of three trials of clinical tests was used for data analysis. Results : The first peak knee adduction moment was significantly correlated with the hip rotation ranges and hip rotator strengths (P<.05). The second peak knee adduction moment was showed significant correlations with hip external rotation and rotation ratio. There were no correlations between Foot Posture Index and all knee adduction moments (P>.05). Conclusion : This study suggests that imbalances of the range of motion and strength of the internal and external rotation of the hip joint can affect knee adduction moments. The impact may exacerbate musculoskeletal disorders such as osteoarthritis of the knee. Therefore, further studies should be conducted to evaluate the effects of clinical interventions to correct these imbalances on the reduction of the knee adduction moments in patients with knee osteoarthritis.

• 한국전문물리치료학회지
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• 제12권2호
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• pp.37-43
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• 2005

The purpose of this study was to examine the effects of static stretching and Evjenth-Hamberg stretching the on range of motion (ROM) of the knee joint. The subjects were composed of twenty healthy males without weight-training experience. The ROM of the knee joint was measured by using an En-Knee. Three tests (performed on the 1st week, 4th week, and 8th week) were conducted to examine the change of each variable. Data were analyzed with a $2{\times}3$ analysis of variance (group${\times}$test) for repeated measures on last factor through SPSS 10.0. The data analysis revealed the change in the ROM was dependent on the stretching method. The results were as follows: The ROM was improved in both methods by each time, but the E-HS was more improved than the SS. In conclusion, this study indicated that the E-HS is more efficient than the SS on the ROM of the knee joint.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• 한국운동역학회지
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• 제16권4호
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• pp.73-81
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• 2006

The purpose of this study was to investigate the effects of strength training on knee joint torque during walking in an adolescent with trisomy-21 Down syndrome. One adolescent with Down syndrome and one normal child participated in this study. Strength training consisted of eight exercises: squat, hamstring curl, hip adduction, hip abduction, knee extension, toe raise, sit-ups, and hyperextension of the waist. The participant with Down syndrome was participated in strength training for 12 weeks, three times a week, three sets, 10-15 RM; resistance was adjusted according to the principle of progressive overload. To measure the effect of strength training, isokinetic strength variables and knee joint torques were measured before training and after 12 weeks of training. The participant with Down syndrome had some abnormalities in controlling knee motion during walking due to muscle hypotonia, ligament laxity, and weakness of muscles. Post-training isokinetic strength increased compared to pre-training measurements. Knee range of motion were increased after strength training. Strength training did not affect ad/adduction and in/exteranl moments but did have an effect on flexor/extensor moment and timing.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 대한관절경학회지
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• 제3권1호
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• pp.44-47
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• 1999

저자들은 25세 남자로서 특별한 외상없이 좌측 슬관절 내에 발생한 결절성 건활액막염으로 확진된 1례를 보고하는 바이다. 환자는 좌측 슬관절 슬와부에 경미한 정도의 압통이 있었으며, $100^{\circ}$에서 굴곡장애가 특별한 외상 없이 내원 5개월 전 부터 발생하였다. 관절경적 진단 및 종물 제거 후 증상의 소실과 굴곡장애가 없어졌으며, 1년간의 추시 관찰시 증상의 재현은 없었다.

• 대한기계학회논문집A
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• 제41권9호
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• pp.869-876
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• 2017

기계시스템을 제어한다든지 그 부재를 설계하기 위하여 그리고 구동기의 용량을 결정하는데 있어서 구동력이나 조인트반력을 해석하는 것이 필요하다. 본 논문은 주어진 시스템의 운동을 구현하는 다양한 형태의 구동조건에 따른 구동력(또는 토크)을 조인트좌표 공간에서 계산하는 알고리즘을 제시한다. 조인트좌표를 기구학적 시스템의 일반좌표로 사용하며 운동방정식과 구속조건의 가속도식은 속도변환법을 이용하여 직교좌표공간으로부터 조인트좌표공간으로 변환한다. 수치예제를 통하여 제시된 알고리즘의 유용성을 확인한다.