• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Proceedings of the International Microelectronics And Packaging Society Conference
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• 2006.02a
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• pp.1-14
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• 2006

[ $\blacklozenge$ ] PCB에 있어서 Embedded passive 는chip을 직접 내장하는 방법과 특별한 특성을 갖는 재료 및 공법을 사용하여 chip 응 대치하는 방법이 있다. $\blacklozenge$ Embedded passive PCB가 적용될 수 있는 유력한 적용 분야는 소형화가가 요구되는 분야와 고속 특성이 요구되는 분야를 들 수 있고, 따라서, Module, SOP/SIP, Package substrate 등이 우선적으로 적용될 수 있는 분야다. $\blacklozenge$ Embedded capacitor를 적용한 경우, 일반적인 chip capacitor를 적용한 경우보다 더 좋은 전기적인 특성(SRF, Q)을 얻을 수 있으며, solder joint 등의 영향을 포함하면 더욱 좋은 특성이 얻어질 수 있다. $\blacklozenge$ Embedded passive 의 상용화를 위해서, 공차를 관리하는 방법의 개발과 공차에 대한 합리적인 규격을 설정하는 것이 우선 과제이다. $\blacklozenge$ Embedded resistor 의 경우, Laser trim을 적용하여 ${\pm}\;5\%$ 또는 그 이하의 공차를 실현할 수 있고, $30\;K\Omega/sq$. 의 고저항의 적용까지 가능하다. $\blacklozenge$ 고속 신호에서의 noise 감소, module, SIP/SOP 의 소형화를 실현하는데 Embedded passive(혹은 active)PCB 가 기여 할 수 있을 것이고, 이를 위하여 Set 업체, PCB 업체, 재료 업체간의 지속적인 협조가 필요할 것이다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.704-708
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• 2004

The RMD(Rehabilitation Medicine Device) with CJM(Compound Joint Motion) is the lower limb unit muscular strengthening promotion rehabilitation medicine device for patients of joint orthopedic operation or the deficient elder of ability to walk, the handicapped. Since the products for the rehabilitation medicine device have limited to the simplicity linear motion, those do not give efficient the lower unit muscular strengthening effects. This device which was under the development gives to exercise of hip joint and knee joint with user's selection at once, get out of the simplicity linear motion. Also it will be contributed to a field of rehabilitation medicine and a mobility aid technology of the deficient elders of ability to walk, the handicapped.

• Journal of the Korean Society of Physical Medicine
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• v.3 no.2
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• pp.121-125
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• 2008

Purpose : The objective of this study was conducted to find out the treatment of joint problems. Methods : This is a literature study with books, seminar note and international course books. Results : Passive oscillation and distraction movement therapy is only joint mobilization and pain control. In the joint therapy need muscle strengthening, training of eccentrical control and neurophysiological therapy for joint mobility, stability, stability of mobility and skill. Conclusion : Joint therapy is not only joint mobility but also strengthening of soft tissue. Need the neurophysiological therapy those are use of ventromedial motor nucleus and dorsolateral motor nucleus, reciprocal inhibition, eccentrical muscle contraction training, proprioceptors and exteroceptor for structures and functional activities. For the pain control, reduce swelling, keeping GAGs and functional activities need direct and indirect therapy.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.182-189
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• 2005

The human knee joint is the intermediate joint of the lower limb that is the largest and most complex joint in the body. Understanding of joint-articulating surface motion is essential for the joint wear, stability, mobility, degeneration, determination of proper diagnosis and so on. However, many studies analyzed the passive motion of the lower limb because of the skin marker artefact and some studies described medial and lateral condyle of a femur as a simple sphere due to the complexity of geometry. Thus, in this paper, we constructed a three-dimensional geometric model of the human knee from the geometry of its anatomical structures using non-uniform B-spline surface fitting as a study for the kinematic analysis of more realistic human knee model. In addition, we developed and verified 6-DOF contact model of the human knee joint using $C^2$ continuous surface of the inferior region of a femur, considering the relative motion of shank to thigh during locomotion.

• Journal of Biomedical Engineering Research
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• v.24 no.3
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• pp.209-215
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• 2003

The goal of this study was to investigate the relationship between kinematic and kinetic characteristics of foot joints resisting ground reaction force. Passive elastic joint moment and angular displacement were obtained from the experiment using 3 cameras and force plate. The relationship between joint angle and moment was mathematically modeled by using least square method. The ranges of motion of joints ranged from 5$^{\circ}$ to 7$^{\circ}$ except metatarsophalangeal joint. In the study, we presented simple mathematical models that could relate joint angle and plantar pressure. From this model, we can got the kinematic data of joints which is not available from conventional motion analysis. Furthermore, the model can be used not only for biomechanical model which simulates gait but also for clinical evaluation.

• Journal of the Korean Society of Physical Medicine
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• v.19 no.1
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• pp.69-79
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• 2024

PURPOSE: This study compared the effect of the muscle energy technique (MET) and stretching technique on ankle dorsiflexion passive range of motion, balance, and gait ability of stroke patients with limited ankle dorsiflexion. METHODS: Forty-four post-stroke patients participated. The participants were randomized into the MET group (METG; n = 22) and the stretching group (STG; n = 22). The METG was subjected to the MET to relax the dorsiflexion, while the STG was subjected to the dorsiflexion stretching technique. Both groups completed standard neurological physical therapy for 30 min per session. The intervention was conducted five times a week over 3 weeks for a total of 15 times. All participants underwent ankle dorsiflexion passive range of motion measurement and Berg Balance Scale score determination and completed a 10-m walking test and the timed up and go test before and after the intervention. RESULTS: After the 3-week intervention, both groups showed significant improvement after the intervention (p < .05). METG participants showed greater improvements in ankle dorsiflexion passive range of motion and 10-m walking test results compared to STG participants (p < .05). CONCLUSION: Both interventions improved ankle dorsiflexion passive range of motion, balance, and gait ability in stroke patients with limited ankle dorsiflexion. Moreover, the MET was superior to ankle dorsiflexion passive range of motion on the 10-m walking test.

• Journal of muscle and joint health
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• v.5 no.2
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• pp.253-264
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• 1998

This study has done for the purpose of investigation among the degrees of pain coping strategies, pain, and depression of patients with rheumatoid arthritis. The subjects of this study were 214 patients diagnosed with rheumatoid arthritis. The data were collected from september 4 to 16, 1995 by questionnaires. The data were analysed by the use of frequency, t-test, Pearson Correlation Coefficients, ANOVA, and Duncan test. The results Were as follows ; 1. The mean score of pain was 213.5(range : 4-390) and that of depression was 21.4 (range : 1-50). The mean score of passive pain coping strategies was 30.2(range : 11-48) and that of active pain coping strategies was 18.6(range : 7-33) 2. The passive pain coping degree showed a positive correlation with the pain degree (r=.475, p=.0001) and the active pain coping degree showed a inversive correlation with that(r= -.296, p=.0001). The passive pain coping degree showed a positive correlation with the depression degree (r=.425, p=.0001) and the active pain coping degree showed a inversive correlation with that(r=-.299, p=.0001). The pain degree showed a positive correlation with the depression degree(r=.374, p=.0001).

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.107-115
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• 2017

In this paper, four-bar linkage mechanism for the knee joint is developed which is used in prosthetics. But unlike the prosthetics, the feature of this mechanism is that the instantaneous center of rotation of the four-bar linkages can be moved behind the ground reaction force vector so that it can be passively supported without any external power. In addition, this mechanism is developed similar to the structure of the human knee joint for eliminating the sense of heterogeneity of the wearer. In order to design the mechanism with these two objectives, optimization design process is done using the PIAnO tool and detailed design is carried out through optimized variable values. The developed mechanism is attached to the robot which can assist the hip and ankle joints. In order to verify the operation of the developed knee mechanism, an insole type sensor was attached to the shoes to compare data values before and after wearing the robot. Result data showed that wearer wearing the exoskeleton robot with the knee mechanism was the same value regardless of whether the heavy tool is loaded or not.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.318-325
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• 2019

NREX, an upper limb exoskeleton robot, was developed at the National Rehabilitation Center to assist in the upper limb movements of subjects with weak muscular strength and control ability of the upper limbs, such as those with hemiplegia. For the free movement of the shoulder of the existing NREX, three passive joints were added, which improved its wearability. For the flexion/extension movement and internal/external rotation movement of the shoulder of the robot, the ball lock pin is used to fix or rotate the passive joint. The force and torque between a human and a robot were measured and analyzed in a reaching movement for four targets using a six-axis force/torque sensor for 20 able-bodied subjects. The addition of two passive joints to allow the user to rotate the shoulder can confirm that the average force of the upper limb must be 31.6% less and the torque must be 48.9% less to perform the movement related to the axis of rotation.