• 융합신호처리학회논문지
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• 제14권2호
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• pp.124-129
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• 2013

6족 보행 로봇은 2족 또는 4족 보행 로봇에 비하여 안정적인 보행이 가능한 장점이 있다. 따라서 6족 보행 로봇은 이러한 보행의 안정성을 기반으로 다양한 지능적인 동작을 수행하기에 유리한 구조이다. 본 논문에서는 전형적인 6족 보행 로봇과는 달리 로봇의 진행 방향에 대하여 전후 다리와 좌우에 각각 한 쌍의 다리를 갖는 6족 보행 로봇을 제안하고 제안된 로봇을 사용하여 다양한 지능형 동작을 수행한다. 26개의 모듈형 모터를 사용하여 로봇 기구부를 구성하고 호스트 PC, DSP 주제어기, AVR 보조 제어기, 스마트폰/스마트패드로 구성되는 제어기를 구현한다. 구현된 로봇은 스테레오 카메라, 적외선 센서, 초음파 센서, 접촉 센서 등 다양한 센서 데이터를 사용하여 비평탄면 보행, 공차기, 원격 제어 및 3차원 모니터링 등 다양한 지능형 동작을 수행할 수 있음을 실험을 통하여 검증한다.

• 한국전문물리치료학회지
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• 제19권3호
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• pp.1-10
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• 2012

The aim of this study is to compare measurements of abdominal muscle thickness using ultrasonography imaging (USI) to those using a special transducer head device, during five different trunk stabilization exercises, ultimately to determine which exercise led to the greatest muscle thickness. Thirty eight healthy subjects participated in this cross-sectional study. The five types of trunk stabilization - i.e., a sit-up on the supine, an upper and lower extremity raise with quadruped on the prone, a leg raise in sitting on the ball, trunk rolling on the ball, and balance using sling on the prone position - were each performed with an abdominal draw. The thickness of the abdominal muscle - including the transverse abdominal (TrA), internal oblique (IO), and external oblique (EO) - was measured by USI with a special transducer head device, at rest and then at contraction in each position. Data were analyzed using one-way repeated ANOVA with the level of significance set at ${\alpha}$=.05. The results were as follows: 1) the TrA thickness was statistically significant (p<.05), whereas the IO and EO thicknesses were not (p>.05); 2) among the five types of trunk stabilization, TrA thickness significantly increased with the balance using a sling in the prone position, (p<.05), whereas no significant difference was noted for the four types of trunk stabilization (p>.05); 3) reliability data showed that there was a high degree of consistency among the measurements taken using the special transducer head device (ICC=.92). In conclusion, the balance using a sling in the prone position was more effective than any of the four other types of trunk stabilization in increasing TrA thickness in healthy subjects.

• 전기전자학회논문지
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• 제15권3호
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• pp.227-234
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• 2011

The Interest in robotics has been steadily increasing in recent times both in Korea as well as abroad. Research on robots for new and diverse fields is ongoing. This study discusses the current research and development on robot actuator, which are used to control the joints of robots, and focuses on developing more efficient technology for joint control, as compared with the current technologies. It also aims to find means to apply the abovementioned technology to diverse industrial fields. We found that easy and effective control of actuators could be achieved by using ZigBee sensor networks, which were widely being used on wireless communications. Throughout the experiments it is proved that the developed wireless actuator could be used for easy control of various robot joints. This technology can be effectively applied to develop two-legged robots that will be able to walk like human, or even quadruped and hexapod robots. It can also be applied to motors used in industry. In this study, we develop an extremely minimized ZigBee sensor network module that can be used to control various servo motors with low power consumption even if it is long distances. We realized effective wireless control by optimizing the ZigBee antenna, and were able to quickly check the status of relevant Tree node through mutual communication between the servo motors composing the ZigBee sensor network and the main server control modules. The developed Servo Motor with ZigBee sensor network modules can be applied in both robotics as well as for home or factory automation.

• PNF and Movement
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• 제15권3호
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• pp.237-246
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• 2017

Purpose: The purpose of this study was to investigate the effects of forward-and-backward shift trunk exercise using a proprioceptive neuromuscular facilitation (PNF) diagonal pattern in a closed kinematic chain exercise on the upper limb function and activity of daily living (ADL) in a stroke patient. Methods: One subject participated in this study. The study used a reversal A-B-A' design, where A and A' were the baseline period (no intervention), and B was the intervention period. The intervention was a forward-and-backward trunk shift exercise, using a PNF diagonal pattern on both a stand-on-hand position and a quadruped position of closed kinematic chain exercises, for 20 min per day for 2 weeks. The range of motion (ROM) of the shoulder joint was measured and a Fugl-Meyer assessment of upper extremity (FMA-UE) and a functional independence measure (FIM) were performed to measure upper limb function and activity of daily living (ADL). Results: ROMs of shoulder joint (flexion, extension, abduction, and external rotation) increased in the intervention phase. The FMA-UE score increased (from 28 to 36) in the intervention phase. The FIM score increased (from 20 to 25) in the intervention phase. These increases were maintained after intervention (Baseline II). Conclusion: These results suggest that forward-and-backward shift trunk exercises using a PNF diagonal pattern in a closed kinematic chain exercise have a positive effect on stroke patients' upper limb function and ADL ability.

• 한국지능시스템학회논문지
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• 제24권3호
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• pp.304-309
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• 2014

본 논문에서는 허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계 방법을 제안한다. 제안된 복합 이동형 로봇은 비평탄 및 평탄 지형에서의 효과적인 이동을 위하여 로봇의 다리에 바퀴가 결합된 복합 바퀴-다리 구조와 로봇 주행 중 보행 자세로의 안정적인 전환과 비평탄 지형에서 기구적인 제한의 개선을 위하여 허리 관절을 갖는 구조로 설계하였다. 또한 다양한 지형을 인지하기 위하여 LRF센서, PSD센서, CCD 카메라를 사용하였다. 제안한 로봇 시스템의 검증을 위해 지형별 주행과 보행 자세를 선택할 수 있는 운동 계획 기법을 제안하였다. 실제 복합 바퀴-다리 이동형 로봇을 설계 및 제작하고, 제안된 운동계획을 사용한 실험을 통해 지형에 따른 효율적인 이동 성능을 검증하였다.

• 한국지능시스템학회논문지
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• 제24권2호
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• pp.179-185
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• 2014

본 논문은 인간과 상호작용하는 엔터테인먼트 4족 애완 로봇과 스마트폰에서 로봇 조종이 가능한 로봇제어기 및 로봇에서 제공하는 센서 정보들을 이용하여 컴퓨터에서 가정용 기기들을 제어하는 홈스마트제어시스템을 구현하기 위한 것으로 로봇은 20 자유도를 가지면서 Microsoft사의 키넥트 센서, 적외선거리 센서, 3축 모션 센서, 그래픽 LCD, 온습도 및 가스 센서로 구성되어 있다. 로봇의 엔터테인먼트 기능을 구현하기 위하여 보행 알고리즘, 키넥트 센서를 이용한 모션 및 음성인식 알고리즘, 감정표현을 위한 알고리즘을 제시하였으며 로봇을 조종할 수 있는 스마트폰 로봇제어 알고리즘 및 가정용 기기를 제어하는 홈스마트제어 알고리즘을 제안하였다. 본 논문에서 제안한 알고리즘들은 구현한 로봇과 컴퓨터 및 스마트폰에 적용하여 실험으로 검증하였다.

• 한국전문물리치료학회지
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• 제24권1호
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• pp.86-96
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• 2017

Background: Scapular dyskinesis is characterized by altered scapular position and motion. Specifically, excess activation of the Upper trapezius (UT) combined with decreased Lower trapezius (LT) and Serratus anterior (SA) have been observed. The Standard push-up plus exercise (SPP) is considered as a therapeutic exercise for increasing SA activity and maintaining the scapular kinematics. In addition, Using the Sling surface can lead to higher muscle activity. However, the advantage of an unstable surface has been uncertatin. Objects: To compare the activation of the UT, LT, and lower serratus anterior (LSA) muscles during various push-up plus exercises with and without sling in subjects with scapular dyskinesis. Methods: Total 18 male subjects with scapular dyskinesis were recruited. The UT, LT, and LSA electromyographic activities and the UT/LSA and UT/LT EMG activity ratios were measured during three push-up plus exercises with and without sling. Two-way repeated of analysis of variance was used to determine the statistical significance. Results: The UT activity was significantly lower in all postures without sling than that with sling. In addition, the LSA activity was significantly greater without than with sling, and significantly large in SPP, Low back supported push-up plus (LSPP), and Quadruped push-up plus. Additionally, the UT/LSA and UT/LT activity ratios were lower in SPP and LSPP without sling than with the other four push-up plus exercises. Conclusion: The push-up plus without sling were considered to decrease UT and increase LSA activity compared with exercises with sling. Furthermore, SPP without sling seems to be a more effective exercise for increasing LSA activity and lowering the UT/LSA and UT/LT activity ratios in scapular dyskinesis subjects.

• 한국전문물리치료학회지
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• 제18권1호
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• pp.1-8
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• 2011

Push-up plus has been advocated for increasing the activity of the serratus anterior muscle, the most critical scapular stabilizer. However, no previous study has reported the possibility of compensatory motion on the part of the pectoralis major, which could substitute for the action of the serratus anterior during push-up plus. The aim of the current study was to investigate the immediate effect of electromyography (EMG) biofeedback of the pectoralis major muscle on the pectoralis major, upper trapezius, and serratus anterior muscles during push-up plus. Fourteen healthy young subjects voluntarily participated in this study; each subject performed push-up plus from the quadruped position, in two conditions (i.e., with or without visual and auditory biofeedback). Surface EMG was used to measure pectoralis major, serratus anterior, and upper trapezius activity. A paired t-test was used to determine any statistically significant difference between the two conditions. Additionally, effect size was calculated to quantify the magnitude of EMG biofeedback in each muscle. Visual and auditory feedback reduced pectoralis major muscle activity significantly (p=.000) and increased the serratus anterior muscle activity significantly (p=.002), but did not induce a significant difference in upper trapezius muscle activity (p=.881). Thus, it is concluded that the visual and auditory feedback of pectoralis major muscle activity can be used to facilitate serratus anterior muscle activity during push-up plus.

• 한국전문물리치료학회지
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• 제19권2호
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• pp.20-28
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• 2012

The lumbar multifidus muscle, which can be separated into deep fascicles (DM) and superficial fascicles (SM), is important for lumbar segmental stability. However, no previous studies have investigated the effect of lumbar stabilization exercises on the thickness of DM and SM. Thus, the purpose of this study was to assess DM thickness after three different lumbar segmental stabilization exercises. In total, 30 healthy male participants were recruited and randomly assigned to one of three exercise groups: hollowing in the quadruped position (H-Quad), contralateral arm and leg lift (CALL), and bilateral arm and leg lift (BALL). Each lumbar segmental stabilization exercise was conducted over 4 weeks. Ultrasonography was used to compare the DM and SM thickness before and after the 4 weeks of exercise. A mixed-model analysis of variance using Scheffe's post-hoc test was used for statistical analysis. The results showed a significant effect for the measurement time (before vs. after 4 weeks of exercise) in the DM (F=31.26, p<.05) and SM (F=4.56, p<.05). At the end of the 4 weeks, the DM thickness had increased significantly in the H-Quad exercise group, and the SM thickness had increased significantly in the CALL and BALL exercise groups. Also in the BALL exercise group, the SM thickness was greater compared with that in the H-Quad exercise group. These findings suggest that the thickness of the DM and SM were increased by different types of lumbar segmental stability exercise after 4 weeks.

• PNF and Movement
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• 제6권1호
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• pp.1-12
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• 2008

Purpose : The purpose of this study was to investigate the effects of the combined patterns of PNF(proprioceptive neuromuscular facilitation) on the static balance ability. Methods : The measurements of the static balance ability were completed by 10 subjects for 6 weeks, from October to November 2007. The combined patterns of PNF were carried out by means of self-exercising suggested by Dietz, which were designed as four cases: two positions (standing and quadruped) for both patterns(sprinter and skater), respectively. The exercises were practiced once a day, 3 times a week in same condition. By using the GOOD BALANCE system, assessment of the static balance ability was taken at before and after exercise from 6 positions: normal standing, one leg left and one leg right standing when eye open and close, respectively. For each case, the experimental data was obtained in 3 items: mean X speed, mean Y speed and velocity moment. Results : The results of this study were as follows : 1. There were statistically significant differences of Mean X speed, Mean Y speed and Velocity moment between the before and the after exercise in the case of normal standing when eye open and close(NSEO and NSEC), respectively. 2. There was statistically significant difference of Mean X speed between the before and the after exercise in the case of one leg left standing when eye open(OLLEO). In this case, however, the statistically significant differences were not found in both terms of Mean Y speed and Velocity moment. 3. There were statistically significant differences of Mean X speed and Mean Y speed between the before and the after exercise in the case of one leg left standing when eye close(OLLEC). In this case, however, the statistically significant difference was not found in term of Velocity moment. 4. There were statistically significant differences of Mean X speed, Mean Y speed and Velocity moment between the before and the after exercise in the case of one leg right standing when eye close(OLREC). 5. There was statistically significant difference of Mean X speed between the before and the after exercise in the case of one leg right standing when eye open(OLREO). In this case, however, the statistically significant differences were not found in both terms of Mean Y speed and Velocity moment. 6. There were statistically significant differences of total Mean X speed, total Mean Y speed and total Velocity moment between the before and the after exercise. Conclusions : The above results from this study indicated that the combined patterns of PNF have improved the static balance ability. However the used self-exercise can be applied to normal people, i.e., the exercise is difficult to apply into clinical patients. The further study should be focused at development of various modified forms of the combined patterns of PNF in keeping up the improvement effect of this exercise.