• 근관절건강학회지
• /
• 제25권3호
• /
• pp.167-175
• /
• 2018

Purpose: The aim of this study was to test the effects of passive exercise on upper extremities muscle spasticity, finger edema, and depression for chronic stroke patients. Methods: A non-equivalent pretest-posttest design was employed for this study. The subjects were 30 elderly patients who were hospitalized to treat chronic stroke. 15 patients were assigned to the experimental and control groups respectively. Passive exercise for 20 minutes per day, five days a week for 8 weeks (total 40 times) was provided for the experimental group. Outcome measurements included manual spasticity test to measure upper extremities' muscle spasticity, the ring measurement method for finger edema and the Korean version of Short-form Geriatric Depression Scale (SGDS-K) for depression. Results: The upper extremities' muscle spasticity (Z=-2.52 p=.012) and the degree of depression (F=5.56, p=.006) in the experimental group were significantly reduced compared to those of the control group. But the degree of finger edema did not significantly differ between the two groups (F=1.46, p=.240). Conclusion: Passive exercise for upper extremities should be encouraged for elderly patients with chronic stroke to enhance the upper extremities' functional capacity as well as depression.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.1180-1185
• /
• 2004

The purpose of this study is to develop a Multi-joint rehabilitation system (CMRS : C&R Lab. Multi-joint Rehabilitation System). This study presents the mechanism of rehabilitation system that enables rehabilitation of multi-joint with kinematical analysis for joints of human body. Also, the relative positioning between human subjects and the head part to rehabilitate for the mechanism is based on robotics and anatomy. This study was verified with simulations. Finally, Automation of positioning was realized. Rehabilitation exercises in passive mode were enabled with the results.

• 대한정형도수물리치료학회지
• /
• 제4권1호
• /
• pp.35-43
• /
• 1998

This study was introduce to Manual Mobilization of the Extremity Joints of Freddy M. Kaltenborn(1989). Much of Orthopedic Manipulative Therapy is devoted to the evaluation and treatment of joint and related soft tissue disorders and one of the primary treatment methods is mobilization. When examination reveals joint dysfunction, especially decreased range of motion, joint mobilization techniques are often utilized. Kaltenborn's joint mobilization techniques are performed as passive examination or treatment movements by the therapist. There are three basic joint play movements: (1) traction, (2) compression, and (3) translatoric gliding. The purpose of joint mobilization is to restore normal, painless joint function. Mechanically, the goal is to restore joint play and thus normalize roll-gliding which occurs during active movements.

• 한국전문물리치료학회지
• /
• 제28권4호
• /
• pp.256-265
• /
• 2021

Background: Individuals with scapular winging may have proprioceptive dysfunction which is important for motor control and causes shoulder instability. Reduced serratus anterior (SA) and lower trapezius (LT) muscle activity accompanied by over-active upper trapezius (UT), and pectoralis major (PM) may be contributing factors. Flexi-bar (FB) exercise may be used to increase joint position sense (JPS) and alter the target muscle activities. Objects: This study aimed to investigate the immediate effects of flexi-bar exercise prior to knee push-up plus (FPK) versus knee push-up plus (KPP) on JPS and muscle activity of SA, LT, UT, and PM in subjects with scapular winging. Methods: Eighteen subjects with scapular winging were recruited. JPS was investigated at baseline, after KPP and after FPK. Passive and active JPS errors were calculated by isokinetic equipment. Surface electromyography was used to record muscle activities during KPP and FPK. One-way repeated-measures analysis of variance and post hoc analyses were used to analyze the JPS error measured at baseline, after KPP and after FPK. Paired t-tests were used to compare muscle activities between KPP and FPK. Results: Passive JPS error was significantly decreased after KPP (p = 0.005) and after FPK (p = 0.003) compared to the baseline. Active JPS error was also significantly decreased after KPP (p = 0.016) and after FPK (p = 0.012) compared to the baseline. There was no significant difference in the passive and active JPS errors between KPP and FPK. SA activity during FPK was significantly increased (p = 0.024), and LT activity during FPK was significantly increased (p = 0.006). There were no significant differences in the UT and PM activity. Conclusion: FB might be recommended to immediately improve passive and active JPS and to selectively increase SA and LT muscle activities during KPP in individuals with scapular winging.

• 대한기계학회논문집A
• /
• 제21권1호
• /
• pp.144-153
• /
• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• 대한기계학회논문집A
• /
• 제20권2호
• /
• pp.414-430
• /
• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• 한국정밀공학회지
• /
• 제22권4호
• /
• pp.188-193
• /
• 2005

The purpose of this paper is to develop a more precise damper model of the joint for the quantification of the joint mechanical properties. We modified the linear damper model of a knee joint model to nonlinear one. The normalized RMS errors between the simulated and measured joint angle trajectories during passive pendulum test became smaller with the nonlinear damper model than those of the linear one which indicates the nonlinear damper model is better in precision and accuracy. The error between the experimental and simulated knee joint moment also reduced with the nonlinear damper model. The reduction in both the trajectory error and the moment error was significant at the latter part of the pendulum test where the joint angular velocity was small. The nonlinearity of the damper was significantly greater at thin subject group and this indicates the nonlinearity is a useful index of joint mechanical properties.

• 한국전문물리치료학회지
• /
• 제27권2호
• /
• pp.133-139
• /
• 2020

Background: The gastrocnemius (GCM) is one of the lower extremity muscles that tend to tighten easily. GCM tightness results in limited ankle dorsi-flexion (DF), especially when the knee joint is fully extended. Joint flexibility is determined by the morphological and physiological characteristics of joints, muscles, tendons, and ligaments. Impaired joint flexibility can be attributed to increased susceptibility to muscle injury. High-frequency diathermy is clinically used to reduce pain and muscle tightness and to improve limited range of motion. Objects: This study aimed to investigate the immediate effects of high-frequency therapy in subjects with GCM tightness. Methods: The study was designed as a one-group before-after trial. The subjects included 28 volunteers with GCM tightness (an active ankle DF angle of less than 12°) without any known neurological and musculoskeletal pathologies in the ankle and calf areas. WINBACK Transfer Electrode Capacitive and Resistive Therapy equipment was used to apply high-frequency therapy to the subjects' GCMs for 10-15 minutes. The pennation angle and the fascicle length of the GCM were measured using ultrasonography. The flexibility of the ankle joint, peak torque to the passive ankle DF (Biodex), and soft tissue stiffness (MyotonPRO) were also measured. Results: The pennation angle was significantly decreased following the treatment; however, no significant difference in the fascicle length was found (p < 0.05). The flexibility was significantly increased and both the passive peak torque to passive ankle DF and the soft tissue stiffness significantly decreased (p < 0.05). Conclusion: High-frequency therapy is immediately effective for improving the muscle's architectural properties and functional factors in subjects with GCM tightness. Further longitudinal clinical studies are required to investigate the long-term effects of high-frequency therapy on subjects with GCM tightness from various causes.

• 국제물리치료학회지
• /
• 제7권1호
• /
• pp.919-924
• /
• 2016

In this study, 20 men and women in their 20s were divided into a footboard passive stretching group and a manual passive stretching group. After stretching was applied to the soleus for 5 weeks, a comparative analysis was performed on the range of motion(ROM) of the ankle joint to determine changes in the flexibility of the soleus. Both the footboard stretching group and manual stretching group first performed stretching for 15 sec, followed by a 10-sec break. One set consisted of performing the above process twice consecutively, and each group had to perform five sets in total. A goniometer was used as a measuring instrument. The results of the experiment were analyzed using a nonparametric analysis, Wilcoxon signed rank test, and Mann-Whitney test. SPSS WIN 18.0 was employed for the statistical analysis. In terms of the comparison of the flexibility before and after the experiment according to the different interventions, the application of footboard stretching to the soleus for 5 weeks resulted in $3.2^{\circ}$ right dorsiflexion (p=.009), $6.98^{\circ}$ right plantar flexion(p=.008), $4.14^{\circ}$ left dorsiflexion(p=.005), and $10.97^{\circ}$ left plantar flexion(p=.007), which were all statistically significant increases. The application of manual stretching led to $6.04^{\circ}$ right dorsiflexion(p=.005), $12.14^{\circ}$ right plantar flexion(p=.005), $7.00^{\circ}$ left dorsiflexion (p=.008), and $16.38^{\circ}$ left plantar flexion(p=.005). Therefore, both footboard stretching and manual stretching were effective in enhancing the flexibility of the soleus. However, statistically significant larger increases in the ROM of the ankle joint were observed in the manual stretching group.

• Smart Structures and Systems
• /
• 제23권6호
• /
• pp.627-639
• /
• 2019

Passive control may not provide enough damping for a stay cable since the control devices are often restricted to a low location level. In order to enhance control performance of conventional passive dampers, a new type of damper integrated with a rotary electromagnetic damper providing variable damping force and a flywheel serving as an inertial mass, called the rotary electromagnetic inertial mass damper (REIMD), is presented for suppressing the cable vibrations in this paper. The mechanical model of the REIMD is theoretically derived according to generation mechanisms of the damping force and the inertial force, and further validated by performance tests. General dynamic characteristics of an idealized taut cable with a REIMD installed close to the cable end are theoretically investigated, and parametric analysis are then conducted to investigate the effects of inertial mass and damping coefficient on vibration control performance. Finally, vibration control tests on a scaled cable model with a REIMD are performed to further verify mitigation performance through the first two modal additional damping ratios of the cable. Both the theoretical and experimental results show that control performance of the cable with the REIMD are much better than those of conventional passive viscous dampers, which mainly attributes to the increment of the damper displacement due to the inertial mass induced negative stiffness effects of the REIMD. Moreover, it is concluded that both inertial mass and damping coefficient of an optimum REIMD will decrease with the increase of the mode order of the cable, and oversize inertial mass may lead to negative effect on the control performance.