• 한국임상수의학회지
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• 제37권4호
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• pp.169-174
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• 2020

The purpose of this study was to establish normal values for the thoracic limb joint reference angles in Shih Tzu dogs and to describe the standardized CT methodology for measuring the joint reference angle of the humerus. Five pairs of thoracic limbs of Shih Tzu dogs were collected for the CT scans in this study. Three blinded observers measured the joint reference angle of the humerus and radius for each dog by using CT scans in the frontal, sagittal, and axial planes. The means (± SDs) for the average of the right and left humeral joint reference angles were as follows: mMPHA, 83.74 ± 3.95°; mLDHA, 85.04 ± 2.57°; mCaPHA, 46.75 ± 2.20°; mCrDHA, 79.47 ± 1.97°; and HTA, 19.16 ± 2.38°. Means (± SD) for the average of right and left of the radial joint reference angles were as follows: aMPRA, 85.04 ± 1.58°; aLDRA, 87.59 ± 1.37°; aCrPRA, 84.60 ± 1.46°; aCdDRA, 84.27 ± 1.79°; and RTA, 20.91 ± 3.00°. The intraclass correlation coefficients (ICCs) of the joint reference angles for the inter- and intraobserver reliability were good to excellent, except those for the mCrHA and HTA were moderate. Our results suggest that the method of measuring joint reference angles of other long bones by using CT can be applied to thoracic limbs and can extract valid values for one specific breed.

• 전기학회논문지
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• 제58권1호
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• pp.203-209
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• 2009

The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM) $-20{\sim}15$ degrees (dorsiflexion as positive) which covers the ankle ROM of both stroke patients and normal subjects during locomotion. The error was the smallest with the sensor at the position 1 which was the nearest position to the ankle joint. In case of human experiment, the RMS (root mean square) errors were $0.51{\pm}1.78(0.31{\sim}0.64)$ degrees and the maximum errors were $1.19{\pm}0.46(0.68{\sim}1.58)$ degrees. The proposed system is less constraint and cosmetically better than the existing angle measurement system because the wires are not needed.

• 융합신호처리학회논문지
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• 제3권1호
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• pp.61-66
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• 2002

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.67.3-67
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• 2001

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used f3r the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and a second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined fuzzy controller ...

• Journal of Mechanical Science and Technology
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• 제19권10호
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• pp.1919-1931
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• 2005

Human joint motion can be kinematically described in three planes, typically the frontal, sagittal, and transverse, and related to experimentally measured data. The selection of reference systems is a prerequisite for accurate kinematic analysis and resulting development of the equations of motion. Moreover, the development of analysis techniques for the minimization of errors, due to skin movement or body deformation, during experiments involving human locomotion is a critically important step, without which accurate results in this type of experiment are an impossibility. The traditional kinematic analysis method is the Angular-based method (ABM), which utilizes the Euler angle or the Bryant angle. However, this analysis method tends to increase cumulative errors due to skin movement. Therefore, the objective of this study was to propose a new kinematic analysis method, Position-based method (PBM), which directly applies position displacement data to represent locomotion. The PBM presented here was designed to minimize cumulative errors via considerations of angle changes and translational motion between markers occurring due to skin movements. In order to verify the efficacy and accuracy of the developed PBM, the mean value of joint dislocation at the knee during one gait cycle and the pattern of three dimensional translation motion of the tibiofemoral joint at the knee, in both flexion and extension, were accessed via ABM and via new method, PBM, with a Local Reference system (LRS) and Segmental Reference system (SRS), and then the data were compared between the two techniques. Our results indicate that the proposed PBM resulted in improved accuracy in terms of motion analysis, as compared to ABM, with the LRS and SRS.

• 한국임상수의학회지
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• 제33권6호
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• pp.340-345
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• 2016

The present study determined the normal reference ranges for the femoral and tibial joint orientation angles of small-breed dogs. For this purpose, 60 each of cadaveric canine femurs and tibias from normal small-breed dogs (Maltese, Poodle, Shih Tzu, Yorkshire Terrier) were examined with radiographs and photographs. Axial and frontal radiographs and photographs of each bone were obtained, from which anteversion and inclination angles, anatomic lateral proximal and distal femoral angles (aLPFA and aLDFA), mechanical lateral proximal and distal femoral angles (mLPFA and mLDFA), and mechanical medial proximal and distal tibial angles (mMPTA and mMDTA) were measured. The 95% CI for radiographic values of all femurs and tibiae were anteversion angle, $23.4-27.4^{\circ}$; inclination angle, $128.4-130.4^{\circ}$; aLPFA, $117.8-122.1^{\circ}$; aLDFA, $93.7-95.2^{\circ}$; mLPFA $113.8-117.3^{\circ}$; mLDFA $99.2-100.5^{\circ}$; mMPTA $96.8-98.5^{\circ}$; mMDTA $89.4-90.7^{\circ}$. The Maltese had a larger anteversion angle than the Poodle and the Yorkshire Terrier and a larger mLPFA than the Poodle. In the comparison between the radiographs and the photographs, significant differences were found in the anteversion angle, mLPFA, mMPTA, and mMDTA. The established normal reference values might be useful for determining whether a valgus or varus deformity of the femur or the tibia is present and if so, the degree of angular correction needed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.346-350
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• 1989

This paper concerned about a study on the position control of KED-1 robot manipulator using PID self-tuning controller. For two joint manipulator KED-1, KED-1 manipulator is translated into kinematics to control each joints in joint space seheme. Angle displacements of joint coordinate are transformed into reference angle velocity of each subsystem through trajectory planning. Also, time sharing technique is used to control KED-1 manipulator. A series of simulation and experiment are performed for each joint in show the valid of proposed algorithm.

• 대한물리의학회지
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• 제11권2호
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• pp.71-76
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• 2016

PURPOSE: The purpose of this study was to compare isometric contraction of deltoid middle fiber between elastic band and light dumbbell on various shoulder abduction angle. And this study intends to examine the compare with isometric contraction on deltoid middle fiber in various abduction angle of shoulder joint. METHODS: The participants of this study were Korean healthy adult in their 20s (n=60). The 8 channel surface electromyography was used to measure activity of the deltoid middle fiber at isomeric contraction on various abduction angle: $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, $90^{\circ}$, $120^{\circ}$ of shoulder joint using elastic band: red color Theraband and dumbbell: 2kg. The data used in the analysis of the present study was the root mean square. RESULTS: The deltoid middle fiber activation was not significantly different between elastic band and dumbbell at each abduction angle. The deltoid middle fiber activation significantly increased as more to increased shoulder abduction angle in elastic band and dumbbell. CONCLUSION: The elastic band and dumbbell was to provide the similarly load to the deltoid middle fiber isometric contraction on all of the shoulder abduction angle. The deltoid middle fiber activation increased as more to increased shoulder abduction angle in elastic band and dumbbell. These results may be an important reference in development of exercise on shoulder joint.

• 한국운동역학회지
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• 제16권3호
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• pp.75-83
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• 2006

The purpose of this study was to investigate steady-state force depression following active muscle shortening in human tibialis anterior muscle during voluntary contractions. Subjects (n = 7; age $24{\sim}39$ years; 7 males) performed isometric reference contractions and isometric-shortening-isometric contractions, using maximal voluntary effort. Force depression was assessed by comparing the steady-state isometric torque produced following active muscle shortening with the purely isometric reference torque obtained at the corresponding joint angle. In order to test for effects of the shortening conditions on the steady-state force depression, the speed of shortening were changed systematically in a random order but balanced design. Ankle dorsiflexion torque and joint angle were continuously measured using a dynamometer. During voluntary contractions, muscle activation of the tibialis anterior and the medical gastrocnemius was recorded using surface electromyography. Force depression during voluntary contractions, with a constant level of muscle activation, was 12 %, on average over all subjects. Force depression was independent of the speeds of shortening ($13.8{\pm}2.9%$, $10.3{\pm}2.6%$ for 15 and 45 deg/sec over 15 deg of shortening, respectively). The results of this study suggest that steady-state force depression is a basic property of voluntarily-contracting human skeletal muscle and has functional implication to human movements.

• 한국정보통신학회논문지
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• 제4권1호
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• pp.115-121
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• 2000

입력제어신호 변형은 유연한 빔의 진동을 감소시키는 중요한 수단이다. 본 논문에서는 유한시간에서 다중 모드인 유연한 빔의 오차 진동을 제거하는 매우 단순한 입력제어신호 변형 방법을 소개한다. 제어신호는 선형 방정식의 풀이에 의해 구성되어 진다. 유한시간 동안 원하는 동작의 모터 각도는 임의의 한정된 오차 진동을 제거함으로서 도달된다. 폐루프 구성에서 모터 각도에 대한 기준입력으로서의 제어신호 사용에 대한 필요한 조건들 또한 다루게 된다. 제안된 시스템 구성의 효과는 컴퓨터 시뮬레이션을 통해 증명된다.