• Horticultural Science & Technology
• /
• v.34 no.6
• /
• pp.940-958
• /
• 2016

The objective of this study was to analyze the kinematic and kinetic characteristics of two horticultural activities: seed sowing and planting plant. Thirty-one male university students (aged $26.2{\pm}2.0years$) participated in this study. Kinematic factors (movement times, peak velocity, joint angles, and grasp patterns) were assessed using a three-dimensional motion analysis system while the subjects performed the horticultural activities. Kinetic factors (muscle activation of eight upper-limb muscles: the anterior deltoid, serratus anterior, upper trapezius, infraspinatus, latissimus dorsi, biceps brachii, brachioradialis, and flexor carpi radialis) were assessed using surface electromyography. The acts of seed sowing and planting plant were comprised of five tasks which included six types of phases: reaching, grasping, back transporting, forward transporting, watering, and releasing. The movement times, peak velocity, joint angles, and grasp patterns were significantly different across the tasks involved in the horticultural activities. All eight muscles of the upper limbs were utilized during the horticultural activities, and the muscle activation of the serratus anterior was the highest compared to that of the other muscles tested. The kinematic and kinetic characteristics of these horticultural activities showed similar characteristics to reaching and grasping rehabilitation training and daily living activities. The present study provides reference data for common horticultural activities using a kinematic and kinetic analysis.

• Physical Therapy Korea
• /
• v.17 no.2
• /
• pp.1-9
• /
• 2010

To develop effective training methods for strengthening a weakened quadriceps femoris muscle in hemiplegic patients, we examined the effects of maximal isometric contraction of the nonparalyzed knee joint on the electromyographic activities of the paralytic muscle. An electromyogram (EMG) was used to record the electromyographic activities of the paralytic quadriceps femoris muscle in 27 hemiplegic patients. The maximal isometric contraction was measured for each subject to normalize the electromyographic activities. The maximal isometric extension and flexion exercises were randomly conducted when the knee joint angles of the nonparalyzed knees were $0^{\circ}$, $45^{\circ}$, and $90^{\circ}$. The patients were encouraged to maintain maximal isometric contractions in both knee joints during each measurement, and three measurements were taken. A one-minute rest interval was given between each measurement to minimize the effects of muscle fatigue. An average from the three values was taken as being the root mean square of the EMG and was recorded as being the maximal isometric contraction. The electromyographic activity obtained for each measurement was expressed as a percentage of the reference voluntary contraction, which was determined using the values obtained during the maximal isometric contraction. The results of this study are summarized as follows: First, when the knee joint angle of the nonparalyzed knee was $0^{\circ}$, the electromyographic activities of the paralytic medial aspect of rectus femoris were related to measurement by a maximal isometric flexion exercise than by an extension exercise (p<.05). Second, when the knee joint angle of the nonparalyzed knee was $90^{\circ}$, the electromyographic activities of the paralytic lateral aspect of rectus femoris were related to measurement by a maximal isometric flexion exercise than by an extension exercise (p<.05). The results show that myoelectrical activities of paralytic quardriceps were not related to measurement angles and exercise directions of the nonparalized knee joint. Studies on various indirect intervention to improve muscular strength of patients with nervous system disorders of the weakened muscle should be constantly conducted.

• Journal of Applied Reliability
• /
• v.16 no.2
• /
• pp.147-154
• /
• 2016

Purpose: To evaluate statistical differences among three measurements of range of motion (ROM) with Rapael Smart Glove (RSG) group 1, 2 and manual goniometer group. To investigate reference value of the kinematic analysis for range of motion (ROM) of distal upper extremity with Rapael Smart Glove (RSG). Methods: Sixteen normal persons without limitation of motion (LOM) enrolled in the study. The study was performed at two separate times and by two investigators on 16 normal adults. We compared ROM with RSG for measuring joint angles. We compared degrees of forearm supination/pronation, wrist flexion/extension and radial deviation/ulnar deviation during ROM of 16 participants using RSG. After one week, degrees of each motion were measured in the same way by other investigator to evaluate the reliability. Results: Statistical differences among three groups were showed. Most results of paired t-test between two RSG groups were over 0.05 and exceptions are supination, extension, and finger %. Conclusion: Our findings demonstrate that ROM of normal persons obtained by kinematic analysis with RSG are not valid as normal reference value for distal upper extremity motion. But, the reliability of between two RSG groups was showed with paired t-test and Pearson's correlation except supination, extension and finger %.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.04a
• /
• pp.472-477
• /
• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.10a
• /
• pp.154-161
• /
• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1996.03a
• /
• pp.79-84
• /
• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.5 no.4
• /
• pp.26-37
• /
• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of Information Processing Systems
• /
• v.13 no.1
• /
• pp.83-94
• /
• 2017

Near-field source localization algorithms are very sensitive to sensor gain/phase response errors, and so it is important to calibrate the errors. We took into consideration the uniform linear array and are proposing a blind calibration algorithm that can estimate the directions-of-arrival and range parameters of incident signals and sensor gain/phase responses jointly, without the need for any reference source. They are estimated separately by using an iterative approach, but without the need for good initial guesses. The ambiguities in the estimations of 2-D electric angles and sensor gain/phase responses are also analyzed in this paper. We show that the ambiguities can be remedied by assuming that two sensor phase responses of the array have been previously calibrated. The behavior of the proposed method is illustrated through simulation experiments. The simulation results show that the convergent rate is fast and that the convergent precision is high.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.10
• /
• pp.983-989
• /
• 2017

This paper presents the bearing strength for laminates in advanced composite materials in bolted joints. Bolted single lap joint tests were experimentally investigated with respect to stabilized and unstabilized lap joints. Stabilized bolted single lap joints refer to joints with out-of-plane rotational constraints. Unstabilized bolted single lap joints refer to joints with absence of out-of-plane deflection constraints. The bearing strength values of laminates in the bolted joint showed that the percentages of ply angle for 0, 45, -45, and 90 degrees were not affected. The bearing strength value in the unstabilized bolted joint was smaller than the bearing strength value in the stabilized bolted joint because of the influence of the out-of-plane behavior. The composite material studied in this paper is a carbon/epoxy unidirectional (UD) tape prepreg cured at $177^{\circ}C(350^{\circ}F)$. In the laminate reference system, the standard angles of 0, 45, -45, and 90 degrees were used for ply orientation within the laminate. A total of 112 bolted single lap joint tests were conducted on specimens from eight distinct laminates. The ASTM-D-5961M standards were adhered to for the stabilized and unstabilized bolted single lap joint tests.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.10
• /
• pp.94-104
• /
• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.