• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.193-199
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• 2014

In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.

• 대한통합의학회지
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• 제3권2호
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• pp.9-16
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• 2015

Purpose: The purpose of this research was to ascertain the effect of Micro-current on a pain, balance, of knee joint in the patients with degenerative arthritis. Method: The 30 subjects who had micro-current in this research and randomly assigned into two group, an experiment group and a control group. micro-current was applied to 15 subject in the experiment group after general physical therapy. experiment group was applies general therapies and micro-current stimulation. The measurement were analyzed by using SPSS(V.20). In order to compare the post to the amount of pre-changes and post-changes of each group, the paired t-test was used. The difference between the experiment group and the control group was analyzed by using the analysis of convariance. Results: The results of this study were as follows; 1) In VAS measures, the pain point was significantly decreased in both the experimental and the control group. 2) Mc Gill Pain Questionnaire(MPQ), the pain point was significantly decreased in both the experimental and the control group. 3) TUG measures, the second was significantly decreased in both the experimental and the control group. 4) Weight distribution measures, the authority was significantly decreased in both the experimental and the control group. Conclusion: The micro-current is considered a degenerative knee arthritis that can be presented as an effective physical therapy intervention.

• 동의생리병리학회지
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• 제26권4호
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• pp.539-545
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• 2012

To evaluate of the ultrasonographic changes in hemiplegic and unaffected knee joints of hemiplegic ambulators with recent onset stroke. Twenty patients (40 knees) with prevalence duration of 14-39 weeks (mean 24.70 weeks) after a stroke insult were included. All participants were walking independently without leg dragging, had no previous knee injury. There were significant differences in intercondylar cartilage thickness and pes anserinous tendinopathy (PAT) between hemiplegic and unaffected knees (p<0.05). There were no differences in cartilage thickness of medial condyle and lateral condyle, patellar tendinitis/bursitis, suprapatellar effusion, synovitis, joint space narrowing, and Baker's cyst of ultrasonographic findings and x-ray findings in hemiplegic knee compared to the control except PAT (p<0.05). In hemiplegic knee, medial or lateral condylar cartilage thickness was significantly correlated with body weight, intercondylar cartilage thickness, and PAT (p<0.05). PAT was significantly correlated with Brunnnstrom stage and condylar cartilage thickness (p<0.05). Knee pain was significantly correlated with lateral condylar cartilage thickness (p<0.1). The hemiplegic knee had more ultrasonographic abnormalities including PAT and more cartilage thickness preservation in patient with recent onset stroke. Intraarticular sonographic findings including cartilage thickness was significantly correlated with extraarticular findings including PAT and a symptom of knee pain.

• 한국콘텐츠학회논문지
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• 제10권3호
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• pp.258-265
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• 2010

본 연구는 편마비 환자 중 슬관절 과신전으로 인해 균형 및 보행 장애를 보이는 환자들에게 슬관절 움직임 제한 보조기로 과신전을 제한시킨 연구군과, 치료사의 손으로 과신전을 제한시킨 대조군으로 나누어 전통적인 물리치료를 실시해 치료 전, 후와 두 간을 비교하여, 슬관절 움직임 제한 보조기가 슬관절 과신전이 있는 편마비 환자의 균형과 보행에 미치는 영향을 알아보고자 하였다. 연구 대상은 서울 참병원에서 편마비로 인하여 편마비라고 진단 받고 입원 및 통원 치료를 하는 환자 중 슬관절 과신전을 보이는 20명을 대상으로 무작위로 연구군과 대조군으로 나누어 연구 전, 후를 BBS (Berg Balance Scale), TUG (Time Up & Go Test), 보행 능력 평가를 이용하여 측정 비교 하였다. BBS를 이용해 균형능력을 측정한 결과 연구군, 대조군 모두에서 실험 전, 후에 유의한 차이를 보였다(p<0.05). 또한 TUG를 이용한 균형능력 측정 결과에서도 연구군, 대조군 모두에서 실험 전, 후에 유의한 차이를 보였다(p<0.05). 보행 능력 검사를 이용해 보행능력 평가를 한 결과 연구군, 대조군 모두에서 실험 전, 후에 유의한 차이를 보였다 (p<0.05). 균형 및 보행능력을 주 단위로 측정한 결과 연구군과 대조군 모두에서 유의한 증가를 보였고 (p<0.05), 두군 간에는 균형능력에서만 유의한 차이가 있었다(p<0.05). 하지만 그래프상으로 봤을 때 연구군에서 균형과 보행능력의 더 많은 증가를 보였다. 본 연구 결과 슬관절 움직임 제한 보조기를 사용한 슬관절 과신전 제한 후 치료는 편마비 환자의 보행능력 증진에는 유의한 효과가 없었지만, 균형능력 증진에 유의한 효과가 있었다.

• 제어로봇시스템학회논문지
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• 제16권6호
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• pp.579-585
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• 2010

In this paper, an assistive device for a knee joint to help a disabled person to stand up by supporting power is presented. The device is designed and controlled by using damping characteristics of the MR (Magneto-Rheological) damper. The MR damper helps the person to sit slowly and safely. A DC motor supports muscle power in the case of standing motion. Thus the device helps the disabled person to sit down and stand up. Through the experiments, it is feasible that an assistive device can help the disabled person to standup according to the foot pressure change.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.347.2-347
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• 2002

This paper presented a design and a Vibration control of a biped walking RGO(Robotic Gait Orthosis) and walking simulation by this system. The vibration evaluation of the Knee Joint Mechanism on the biped walking RGO(Robotic Galt Orthosis) was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking RGO. (omitted)

• 대한물리의학회지
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• 제7권3호
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• pp.293-302
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• 2012

Background & Purpose : The purpose of this study is to evaluate the impairment of SVMC(selective voluntary motor control) of the lower extremity by assessing each joints of lower limb and to analyze the motional relationship between each joints of lower limb using SCALE(Selective Control Assessment of the Lower Extremity) during the swing phase of gait cycle in children with spastic diplegia. Method : 11 children with spastic diplegia CP who could walk independently and 10 normal developing children were participated. SCALE(Selective Control Assessment of the Lower Extremity) assessments were conducted for 11 children with CP. Gait analysis were accomplished in all participants. Qualisys motion analysis was used as a statistical tool to assess the motional relationship between hip joint, knee joint and ankle joint in each limb. We used descriptive statistics, cross-tabulation, independent t-test, linear regression to analysis motional relationship between each joints of lower limb using by SPSS ver.17.0. Result : Firstly, there were significant differences in SCALE scores between the cerebal palsy group and the control group in knee joint(p<0.05), but no significant difference in hip and ankle joints during the swing phase of gait cycle. Secondly, the difference of SCALE scores showed no statistical motional difference in knee and ankle joints during the swing phase, and showed significant motional difference in hip joints during the swing phase(p<0.05). Thirdly, there was a liner relationship between the motion of hip and ankle joints during the swing phase. Conclusion : The nature of SVMC(selective voluntary motor control) in each joints of the lower limb may reflect the ability of gait, thus SCALE may be used for assessing and for treating the cerebal palsy patients who are able to walk independently. Also we knew that the impairment of SVMC(selective voluntary motor control) increases from the proximal to the distal joints.

• The Journal of Korean Physical Therapy
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• 제32권6호
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• pp.348-353
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• 2020

Purpose: This study examined the comparison of effects of non-surgical continuous and intermittent traction on pain, balance and physical function in the treatment of knee osteoarthritis. Methods: A total of 30 knee osteoarthritis patients were recruited and randomized to a continuous traction group (n=10), an intermittent traction group (n=10), and a control group (n=10). The continuous traction group and intermittent traction group received a non-surgical continuous and intermittent knee joint traction workout five times a week, for 4 weeks. All subjects were assessed with the numeric rating scale (NRS), timed up and go test (TUGT), and Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) before and after the 4-week treatment. Results: As a result of comparison within groups, the continuous traction group, intermittent traction group, and control group showed a significant difference for NRS, TUGT, and WOMAC after the experiment (p<0.05). According to the comparison of the three groups, the continuous traction group showed a more effectively significant difference than the intermittent traction group and the control group in the balance and physical functions before and after the experiment (p<0.05). Conclusion: This study showed that non-surgical continuous traction treatment was effective in improving pain, balance ability, and physical function in knee osteoarthritis patients.

• 한국운동역학회지
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• 제29권4호
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• pp.255-261
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• 2019

Objective: The purpose of this study was to investigate differences of shock attenuation strategies between double-leg and single-leg landing on sagittal plane using statistical parametric mapping. Method: Nine healthy female professional soccer players (age: 24.0±2.5 yrs, height: 164.9±3.3 cm, weight: 55.7±6.6 kg, career: 11.2±1.4 yrs) were participated in this study. The subjects performed 10 times of double-leg and single-leg landing from the box of 30 cm height onto force plates respectively. The ground reaction force, angle, moment, angular velocity, and power of the ankle, knee, and hip joint on sagittal plane was calculated from initial contact to maximum knee flexion during landing phase. Statistical parametric mapping was used to compare the biomechanical variables of double-leg and single-leg landing of the dominant leg throughout the landing phase. Each mean difference of variables was analyzed using a paired t-test and alpha level was set to 0.05. Results: For the biomechanical variables, significantly increased vertical ground reaction force, plantarflexion moment of the ankle joint, negative ankle joint power and extension moment of the hip joint were found in single-leg landing compared to double-leg landing (p<.05). In addition, the flexion angle and angular velocity of the knee and hip joint in double-leg landing were observed significantly greater than single-leg landing, respectively (p<.05). Conclusion: These findings suggested that negative joint power and plantarflexion moment of the ankle joint can contribute to shock absorption during single-leg landing and may be the factors for preventing the musculoskeletal injuries of the lower extremity by an external force.

• 한국정밀공학회지
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• 제21권8호
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• pp.171-179
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• 2004

The purpose of this study is to generate cycling motion for FES (functional electrical stimulation) using knee muscles only. We investigated the possibility by simulation. The musculoskeletal model used in this simulation was simplified as 5-rigid links and 2 muscles (knee extensor and flexor). For the improvement of the present feedforward control in FES, we included feedback path in the control system. The control system was developed based on the biological neuronal system and was represented by three sub-systems. The first is a higher neuronal system that generates the motion command for each joint. The second is the lower neuronal system that divides the motion command to each muscle. And the third is a sensory feedback system corresponding to the somatic sensory system. Control system parameters were adjusted by a genetic algorithm (GA) based on the natural selection theory. GA searched the better parameters in terms of the cost function where the energy consumption, muscle force smoothness, and the cycling speed of each parameter set (individual) are evaluated. As a result, cycling was implemented using knee muscles only. The proposed control system based on the nervous system model worked well even with disturbances.