• 한국컴퓨터정보학회논문지
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• 제26권3호
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• pp.43-50
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• 2021

본 논문에서는 키넥트 센서를 기반으로 한 휘트니스(Fitness) 동작의 정확성을 피드백 하는 윈도우 애플리케이션 KITNESS를 설계하고 구현한다. 이 애플리케이션의 특징은 키넥트의 카메라와 관절 인식 센서를 활용하여 사용자가 정확한 휘트니스 자세로 운동할 수 있도록 피드백을 주는 것이다. 이때 키넥트의 IR Emitter와 IR Depth Sensor를 이용하여 사용자와 키넥트 간의 거리를 측정하고, 사용자의 관절 위치인 조인트(Joint)와 각 관절의 스켈레톤(Skeleton) 데이터를 측정한다. 이러한 데이터를 이용하여 사용자의 관절 위치와 자세마다 일정 거리를 계산하고 자세의 정확도를 판단한다. 그리고 키넥트의 RGB 카메라를 통해 사용자가 본인의 자세를 확인할 수 있도록 구현한다. 즉, 사용자의 자세가 정확하면 스켈레톤 정보를 초록색 선으로 표시하고, 정확하지 않으면 정확하지 않은 부분을 빨간색 선으로 표시하여 직관적으로 알려준다. 사용자는 이 애플리케이션을 통하여 운동하는 자세의 정확도를 피드백 받기 때문에 혼자서도 정확한 자세로 운동할 수 있다. 이 애플리케이션은 운동 부위를 목, 허리, 다리 세 가지 영역으로 분류하고, 각 운동 부위의 자세에서 관절이 겹쳐서 키넥트가 인식하지 못하는 자세를 제외함으로써 키넥트의 인식률을 높인다. 그리고 애플리케이션 종료 시에는 마지막 운동 모습을 이미지로 5초간 보여줌으로써 성취감을 고취시키고 지속적으로 운동할 수 있도록 구현한다.

• 한국전문물리치료학회지
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• 제26권2호
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• pp.49-60
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• 2019

Background: After stroke, in order to improve gait function, it is necessary to increase the muscle strength and to enhance the propriocetive function of the lower extremity. Objects: This study aimed to compare the effects of open kinetic chain (OKC) versus closed kinetic chain (CKC) isokinetic exercise of the hemiparetic knee using the isokinetic equipment on lower extremity sensorimotor function and gait ability in patients with chronic stroke. Methods: Thirty participants with chronic hemiplegia (> 6 months post-stroke) were randomly divided into 2 equal groups: CKC group and OKC group. Patients from both groups attended conventional physiotherapy sessions 3 times a week for 6 weeks. Additionally, subjects from the CKC group performed isokinetic exercise using the CKC attachment, while those from the OKC group performed isokinetic exercise using the OKC attachment. The isokinetic knee and ankle muscles strength, position sense of the knee joint, and spatiotemporal gait parameters were measured before and after interventions. Results: The knee muscles peak torque/body weight (PT/BW) and hamstring/quadriceps (H/Q) ratio significantly increased in both groups (p<.01). In particular, ankle plantarflexors PT/BW, position sense of the knee, gait velocity, and spatial gait symmetry significantly improved in the CKC group (p<.01, p<.05, p<.01, and p<.01, respectively). Conclusion: CKC isokinetic exercise can be an effective therapeutic intervention for the improvement of sensorimotor function of the lower extremity and gait functions, such as gait velocity and symmetry. CKC position in isokinetic strength training is effective to improve functional ability in patients with chronic stroke.

• Archives of Reconstructive Microsurgery
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• 제25권2호
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• pp.43-48
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• 2016

Purpose: Perforator flap-using ischial sore reconstruction is performed in a prone position. But after the surgery, recurrence frequently occurs in a sitting position. In this sense, we introduce modified flap insetting method which closely resembles patient's sitting position to lessen the flap tension surgically. Materials and Methods: Authors tried to check a skin tension difference between prone position and sitting position in normal people group and to find out the importance of performing flap insetting in hip flexion position. Healthy volunteers were collected (n=20) and designed the same length of 4 divided sections around the ischium. Lengths of each section were measured when hip joint was flexed to 90 degree and when both hip and knee joints were flexed to 90 degree and the statistical evaluation was performed. Twenty cases with ischial sore underwent reconstructive surgery using perforator flap under hip flexion position and followed-up for any recurrences. Results: There was a meaningful difference between the joint flexed skin length and that of the neutral position. Flap showed sufficient thickness over 12 months. Conclusion: It seems that recurrence could be reduced when the reconstructed flap could sufficiently cover in a sitting position regarding its significant length difference in normal people group.

• 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.

• 국제물리치료학회지
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• 제1권2호
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• pp.126-135
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• 2010

The purpose of this study is to investigate the effects of closed and open kinetic chain exercise for increasing knee joint function on the knee position sense in the normal adults. Thirty normal adults(male 15, female 15; mean age: $22.13{\pm}2.58$ years) were participated in this study into two groups, each with 15 people. The group I was trained that closed kinetic chain exercise on the knee joint and the group II was trained that open kinetic chain exercise on the knee joint. Exercise programs performed for 4 weeks, 3 times a week were using Shuttle 2000-1 closed kinetic chain exercise and Knee Extensor open kinetic chain exercise(HUR, Filand). The results of this study were as follows: 1) There were statistically significant decreasing of measuring error degree in $0-20^{\circ}$ were found between before and after training in closed kinetic chain exercise(p<.05). 2) There were statistically significant decreasing of measuring error degree in $21-40^{\circ}$ were found between before and after training in closed kinetic chain exercise(p<.05). 3) There were statistically significant decreasing of measuring error degree in $41-60^{\circ}$ were found between before and after training in closed kinetic chain exercise(p<.05). 4) There were statistically significant decreasing of measuring error degree in $0-20^{\circ}$ were found between before and after training in open kinetic chain exercise(p<.05). 5) There were statistically significant decreasing of measuring error degree in $21-40^{\circ}$ were found between before and after training in open kinetic chain exercise(p<.05). 6) There were statistically significant decreasing of measuring error degree in $41-60^{\circ}$ were found between before and after training in open kinetic chain exercise(p<.05). In conclusion, these results suggest that closed and open kinetic chain exercise has increased in the knee joint proprioception between before and after training. Especially, closed kinetic chain exercise could be more useful intervention than open kinetic chain exercise for increasing proprioceptive sense.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• The Journal of Korean Physical Therapy
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• 제14권4호
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• pp.64-74
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• 2002

The SSEP(SomatoSensory Evoke Potentials) test is a valid and repeatable technique which correlates with clinically assessed joint position & vibration sense, skin touch & pressure sense. Also SSEP study is a simple and quantitative test, and has been used to evaluate the sensoty system along the somatosensory pathway from peripheral sensory receptor to the cortex. The ascending pathway of SSEP has been know to be posterior column-lemniscal pathway, but not without controversy. There are two kind of test mathods : one of test is median nerve SSEP and other test is posterior tibial nerve SSEP. Recently, SSEP used to performed to evaluate the usefulness of dermatomal SSEP(D-SSEP) and segmental SSEP(5-SSEP) for the diagnosis of lumbasacral radiculopathy, and it can be measure of ingual ahd palatine evoked potentials & indicator of medullary function useful for the diagnosis of brain death.

• 대한정형도수물리치료학회지
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• 제21권1호
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• pp.21-28
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• 2015

Background: The purpose is to investigate the immediate effects of kinesio taping on quadriceps induced fatigue by short-term squat. Methods: This research is cross-over designed study and conducted as a single-blind. Eleven students (Age: $18.91{\pm}0.49yrs$, height: $167.09{\pm}8.46cm$, $62.55{\pm}11.32kg$) were participated in this study. All the participants were applied short-term squat for inducing fatigue, and then intervented all three conditions (kinesio taping applied condition, placebo taping applied condition, non-taping applied condition). The interval of each intervention was at least a seven days to prevent carry-over effects. The participants were tested peak torque (isometric contracture) and active joint position sense (active JPS) pre-post intervention. A paired t-test was used to find the significance of pre-post intervention results and one-way ANOVA was used to find the significance between interventions with significant level as .05. Results: Peak torque was significantly increased on KT condition (p<.05). But there were no significant effects on active JPS. Because kinesio taping facilitates Ia afferent by tactile stimulation with stretched skin, reduced muscle power by short term squat which induce muscle fatigue was increased. But kinesio taping does not affect mechanoreceptor in muscles, induced active JPS by short-term squat had no changes.

• 한국전문물리치료학회지
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• 제28권1호
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• pp.36-46
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• 2021

Background: It is reported that the proprioceptive sensation of patients with neck pain is reduced, and neck sensory-motor control training using visual feedback is reported to be effective. Objects: The purpose of this study is to investigate how sensorimotor control training for the cervical spine affects pain, function, and psychosocial status in patients with chronic cervical pain. Methods: The subjects consisted of 36 adults (male: 15, female: 21) who had experienced cervical spine pain for more than 6 weeks. An exercise program composed of cervical stabilization exercise (10 minutes), electrotherapy (10 minutes), manual therapy (10 minutes), and cervical sensorimotor control training (10 minutes) was implemented for both the experimental and the control groups. The cervical range of motion (CROM) and head repositioning accuracy were assessed using a CROM device. In the experimental group, the subjects wore a laser device on the head to provide visual feedback while following pictures in front of their eyes; whereas, in the control group, the subjects had the same training of following pictures without the laser device. Results: There were no statistically significant differences between the two groups in pain, dysfunction, range of motion, or psychosocial status; however, post-test results showed significant decreases after 2 weeks and 4 weeks compared to baseline (p < 0.01), and after 4 weeks compared to after 2 weeks (p < 0.01). The cervical joint position sense differed significantly between the two groups (p < 0.05). Conclusion: In this study, visual feedback enhanced proprioception in the cervical spine, resulting in improved cervical joint position sense. On the other hand, there were no significant effects on pain, dysfunction, range of motion, or psychosocial status.

• Annals of Rehabilitation Medicine
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• 제42권6호
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• pp.854-862
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• 2018

Objective To investigate the effect of treadmill training with eyes open (TEO) and closed (TEC) on the knee joint position sense (JPS), functional balance and mobility in children with spastic diplegia. Methods Forty-five children with spastic diplegia aged 11-13 years participated in this study. They were randomly assigned to three groups of equal number. The control group (CON) underwent designed physical therapy program whereas, the study groups (TEO and TEC) underwent the same program, in addition to treadmill gait training with eyes open and closed, respectively. Outcome measures were the degree of knee joint position error, functional balance and mobility. Measurements were taken before and after 12 weeks of intervention. Results After training, the three groups showed statistically significant improvement in all measured outcomes, compared to the baseline with non-significant change in the knee JPS in the CON group. When comparing posttreatment results, the TEC group showed greater significant improvement in all measured outcomes, than the TEO and CON groups. Conclusion Treadmill training with eyes open and closed is effective in rehabilitation of children with diplegia, but blocked vision treadmill training has more beneficial effect.