• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.201-207
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• 2012

Jumping is considered as a suitable way for realizing fast locomotion on the ground. As for the issue of developing mobile robots that can jump up and forward enough for accomplishing useful missions, this paper first introduces two types of jumping principles that are found in biological animals or insects. We also present how the principles are applied to several jumping robot examples that include outcomes for the past a few years and also our recent one. Design ideas and features of the robots are explained and compared in order to discuss important issues and guidelines for the design of jumping robots.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.441-442
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• 2011

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1427-1432
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• 2008

This paper describes the locomotion of a water jumping robot which attempts to emulate the fishing spider’s ability to jump on the water surface. While previous studies of the robots mimicking arthropods living on water were focused on recreating their horizontal skating motions, here we aim to achieve a vertical jumping motion. The robot jumps by pushing the water surface with rapidly released legs which were initially bent. The motion is triggered with a latch driven by the shape memory alloy actuator. The robot is capable of jumping to the maximum height of 26mm. Jumping efficiency, defined the maximum jumping height on water over the maximum jumping height on rigid ground, is 0.26 This work represents a first step toward robots that can locomote on water with superior versatility including skating and jumping.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1108-1114
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• 2009

Mobility is one of the most important features for a guard robot since it should be operated in rough places. A wheel-based mobile robot capable of jumping is an appropriate structure for a guard robot because it can easily satisfy the requirements for small guard robots. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes a small robot equipped with the jumping mechanism based on the conical spring with the variable length endtip. The variable length endtip enables the independent control of the jump force and jump angle which are related to the jump height and jump distance, respectively. Various experiments demonstrated that the proposed jumping mechanism can provide the independent control of jump force and jump angle, and improve the mobility of a small robot to overcome an obstacle. Furthermore, a combination of the jumping mechanism and the PSD sensor to measure the distance to the step enable the jumping robot to autonomously climb stairs.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1195-1200
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• 2007

It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.

• The Journal of Korean Physical Therapy
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• 제28권6호
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• pp.385-392
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• 2016

Purpose: This study aimed to evaluate the relationships among quality of life, caregiver depression levels, and disease severity, especially motor function, in children with cerebral palsy. Methods: Data were collected through questionnaires using survey and interview from 80 caregivers of children with cerebral palsy. The caregivers' quality of life was measured using medical outcomes study 36-item short form health survey, and level of depression was scored using the beck depression inventory. In addition, children's motor function was evaluated using gross motor function measure-88 and functional independence measure scores. Results: Among 8 domains of medical outcomes study 36-item short form health survey, "physical functioning," "physical role functioning," "mental health," and "bodily pain" domains were significantly correlated to "total" percentage scores of gross motor function measure-88. In addition, "mental health" and "bodily pain" domains were correlated to each sub-dimension, including "lying and rolling," "sitting," "crawling and kneeling," "standing," and "walking, running, and jumping." Similarly, the "running" and "jumping" dimensions including motor function measures correlated with "transfer," "locomotion," and "motor subtotal" of functional independence measure scores. The beck depression inventory scores were negatively correlated to "lying and rolling," "sitting," "crawling and kneeling," and the "total" percentage scores of gross motor function measure-88. The beck depression inventory scores were negatively correlated to "sphincter control," "communication," "social cognition," "cognitive subtotal," and "total" functional independence measure scores. Conclusion: It is necessary to consider the quality of life and emotional problems of caregivers of CP children and support them both physically and psychologically with comprehensive rehabilitation.

• Biomolecules & Therapeutics
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• 제4권3호
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• pp.232-238
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• 1996

The physical dependence potency of DA-5018, a non-narcotic analgesic agent, was tested in mice dosed with 0.5 and 4 mg/kg/day for 2 months and daily increasing doses of 1, 2, 4, 6, 8 and 10 mg/kg over 10 days. Physical dependence was assessed taking natural withdrawal induced morphine-type abstinence (jumping, falling, biting or backward locomotion, rearing etc.) as well as barbiturates-type abstinence (body weight reduction, convulsion, ataxia etc.) into consideration. The results were compared with those after the same daily increasing doses of morphine. DA-5018 did not show evidence of physical dependence liability or abuse potential as measured by morphine-type or barbiturate-type abstinence signs following daily increasing or 2-month repeated administration. On the other hand, daily increasing doses of morphine produced physical dependence and the dependent state disappeared about 6 hours after the start of withdrawal signs. In the single dose suppression test, a single dose of morphine completely suppressed natural withdrawal signs that appeared in morphine-dependent animals. Therefore, these results indicate that DA-5018 does not have abuse potential and physical dependence liability.

• 한국운동역학회지
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• 제25권2호
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• pp.175-182
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• 2015

Objective : The purpose of this study was to investigate difference in fascicle behavior of the medial gastrocnemius during the locomotion with varying intensities, such as gait and one-legged and two-legged vertical jumping. Methods : Six subjects (3 males and 3 females; age: $27.2{\pm}1.6yrs.$, body mass: $62.8{\pm}9.8kg$, height: $169.6{\pm}8.5cm$) performed normal gait (G) at preferred speed and maximum vertical jumping with one (OJ) and two (TJ) legs. While subjects were performing the given tasks, the hip, knee and ankle joint motion and ground reaction force was monitored using a 8-infrared camera motion analysis system with two forceplates. Simultaneously, electromyography of the triceps surae muscles, and the fascicle length of the medial gastrocnemius were recorded using a real-time ultrasound imaging machine. Results : Comparing to gait, the kinematic and kinetic parameters of TJ and OJ were found to be significantly different. Along with those parameters, change in the medial gastrocnemius (MG) muscle-tendon complex (MTC) length ($50.57{\pm}6.20mm$ for TJ and $44.14{\pm}5.39mm$ for OJ) and changes in the fascicle length of the MG ($18.97{\pm}3.58mm$ for TJ and $20.31{\pm}4.59mm$ for OJ) were observed. Although the total excursion of the MTC and the MG fascicle length during the two types of jump were not significantly different, however the pattern of length changes were found to be different. For TJ, the fascicle length maintained isometric longer during the propulsive phase than OJ. Conclusion : One-legged and two-legged vertical jumping use different muscle-tendon interaction strategies.

• The Journal of Korean Physical Therapy
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• 제27권6호
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• pp.425-429
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• 2015

Purpose: This study was to identify the whether there is any correlation between Gross Motor Function Measures (GMFM) and Functional independence Measurement for children (WeeFIM) in order to identify a relevance of daily life motor with gross motor function of children with cerebral palsy. Methods: Subjects were instructed to evaluated by an occupational therapist using WeeFIM (reliability 0.83-0.99) and by a physical therapist using GMFM (reliability 0.93). 10 male children and 13 female children among 23 children being diagnosed as cerebral palsy were targeted for this study. A correlation between GMFM and WeeFIM was analyzed with Kendall correlation. Results: Participants showed significant correlation between GMFM and WeeFIM in all categories, except in the GMFM's walking running jumping category, standing category of GMFM and self care, sphincter control, communication category of WeeFIM. Lying rolling and sitting and crawling kneeling area of GMFM showed a significant correlation with self care(r=0.35, 0.39, 0.4), sphincter control (r=0.45, 0.43, 0.61), mobility transfer (r=0.44, 0.36, 0.64), locomotion (r=0.41, 0.35, 0.74), communication (r=0.4, 0.44, 0.51), and social cognition (r=0.43, 0.51, 0.64) area of WeeFIM (p<0.05). Standing of GMFM and mobility transfer (r=0.74), locomotion (r=0.47) and social cognition (r=0.4) area of WeeFIM showed a significant correlation (p<0.05). Conclusion: These findings indicated significant correlation between activity of daily living (ADL) and gross motor function of children with cerebral palsy. However, because there are a few results that are not significant, both assessment tools should be used for evaluations so that treatment can be achieved with an accurate assessment and establish a therapeutic plan.

• 생약학회지
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• 제5권3호
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• pp.159-166
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• 1974

The Yellow needle crystal was isolated from Atractylis Rhizoma, having mp $124{\sim}126^{\circ}C$(decomp.), the chemical composition $C_{16}H_{21}N_{3}O_{6}$, and its m.w. 251. The pharmacological actions of this alkaloid were studied by various psycopharmacological experiments. 1) In order to see the effect of this Atractylis(=At.) alkaloid on gross general behaviors in mice, a behavioral analysis experiment was adapted. The occurrence number of sleep and lying in At. alkaloidal animals with the doses 10mg/kg or 20mg/kg was increased but the number of jumping, exploration, rearing and defecation was significantly decreased than those of placebo. 2) The effect of the At. alkaloid on unlearned emotional behaviors of mice was studied with an open-field method. The At. alkaloidal groups with the doses 20mg/kg or 30mg/kg showed less often the frequency of locomotion than that of placebo. 3) To know the effect of the At. alkaloid on the learning, a standard water maze experiment and conditioned avoidance response were conducted. As compared to placebo control, the aquisition rate of the maze learning in the alkaloidal mice with the dose of 10mg/kg or 20mg/kg was significantly impaired and the speed of swimming was also signficantly delayed. In the conditioned avoidance response, the extinction performances of the alkaloidal rats with doses of 20mg/kg or 30mg/kg did not differ significantly than that of placebo.