• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.961-968
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• 2013

In this paper, we propose an optimal design for starfish capturing manipulator module with four-bar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.

• Korean Journal of Applied Biomechanics
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• v.22 no.4
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• pp.395-404
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• 2012

This study was to perform the kinetic analysis of tucked backward salto on the balance beam. Eight women's gymnastics players(age: $15.88{\pm}2.45yrs$, career: $6.38{\pm}0.52yrs$, height: $152.38{\pm}7.35cm$, weight: $44.25{\pm}7.54kg$) of the I-region participated in this study. The kinematic variables were analyzed response time of motion, angle, velocity, acceleration and the kinetic variables were analyzed ground reaction force(GRF) of motion. For measure and analysis of kinematic and kinetic variables of this study, used to synchronized to 6 Eagle camera and 1 force plate, used to the Cortex(Ver. 1.0) for analyzed of variables. The results were as follows; To the kinematic variables of tucked backward salto on the balance beam, a time appeared longer landing than air rotation, changes of angle regulated segment of body smaller moment of inertia when air rotation, larger moment of inertia when releasing and landing. A velocity appeared fast motion when releasing and air rotation of body, but appeared more decelerations from landing and acceleration showed to be tended to velocity. A GRF appears jump more than twice the weight at the moment that showed the power of motion to all subject.

• Korean Journal of Applied Biomechanics
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• v.19 no.2
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• pp.273-286
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• 2009

The objective of this research is to evaluate both quantitative analysis and qualitative analysis by comparing vital variable factors of the golf swing successes and the failures. At the moment of swing, each body segment and the movement of the club as well as kinematical parameters were produced by utilizing the 3-D swing analysis for the high school female golfers. As kinematical parameters, it analyzes the 3-D analysis and ground reaction force about the location change, velocity and angle. The 3-D swing analysis and ground reaction force location change, velocity and angle are analyzed for Kinematical parameters. As a result, the stable swing is maintained by club head showing very few front-back movement (X) when the address and the top swing. Also, the center of mass velocity contributes to the momentum increase by showing very rapid velocity when successful comparing with when failed at the time of top swing of left-right(Y) and it is thought that by lessening the cocking angle when successful from the top swing to the impact, it influences the linear velocity increase and has a good effect on a non-distance increase. It shows that Ground reaction force (GRF) is examined by showing the stable approval rating in a front-back(X) direction and left-right(Y) and connected to a successful swing.

• Korean Journal of Applied Biomechanics
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• v.20 no.1
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• pp.13-23
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• 2010

The purposes of this study was to investigate the biomechanical influence of the walking shoe with a plate spring in the heel and interchangeable heel cushioning elements. Eighteen subjects walked in three conditions: 1) the walking shoes Type A-1 with a soft heel insert, 2) the Type A-2 shoe with a stiff heel insert, 3) a general walking shoe(Type B). Ground reaction forces, leg movements, leg muscle activity and ankle, knee and hip joint loading were measured and calculated during overground walking. During walking, the ankle is a few degrees more dorsiflexed during landing and the knee is slightly more flexed during takeoff with the Type A shoes. As a result of the changes in the walking movement, the ground reaction forces are applied more quickly and the peak magnitudes are higher. Muscle activity of the quadricep, hamstring and calf muscles decrease during the first 25% of the stance phase when walking in the Type A shoes. The resultant joint moments at the ankle, knee and hip joints decrease from 30-40% with the largest reductions occurring during landing.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.1
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• pp.30-33
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• 2008

Understanding the characteristics of amputee gait is key in developing more advanced prostheses. The aim of this study was to quantitatively analyze a stair-climbing task for transfemoral amputees with a prosthesis and to predict the muscle forces and joint moments at musculoskeletal joints using a dynamic analysis. A three-dimensional musculoskeletal model of the lower extremities was constructed from a gait analysis using transformation software for two transfemoral amputees and ten healthy people. The measured ground reaction forces and kinematical data of each joint from the gait analysis were used as input data for an inverse dynamic analysis. Dynamic analyses of an transfemoral amputee climbing stairs were performed using musculoskeletal models. The results showed that the summed muscle forces of the hip extensor of an amputated leg were greater than those of a sound leg. The opposite was true at the hip abductor and knee flexor of an amputated leg. We also found that higher moments at the hip and knee joints of the sound leg were required to overcome the flexion moment caused by the body weight and amputated leg. Dynamic analyses using musculoskeletal models may be a useful means to predict muscle forces and joint moments for specific motion tasks related to rehabilitation therapy.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.29-37
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• 2015

Objective : The purpose of this study was to investigate the biomechanical properties of shock absorption strategy and postural stability during the drop landing for each types. Methods : The motions were captured with Vicon Motion Capture System, with the fourteen infra-red cameras (100Hz) and synchronized with GRF(ground reaction force) data(1000Hz). Ten male soccer players performed a drop landing with single-leg and bi-legs on the 30cm height box. Dependent variables were the CoM trajectory and the Joint Moment. Statistical computations were performed using the paired t-test and ANOVA with Turkey HSD as post-hoc. Results : The dominant leg was confirmed to show a significant difference between the left leg and right leg as the inverted pendulum model during Drop Landing(Phase 1 & Phase 2). One-leg drop landing type had the higher CoM displacement, the peak of joint moment with the shock absorption than Bi-leg landing type. As a lower extremity joint kinetics analysis, the knee joint showed a function of shock absorption in the anterior-posterior, and the hip joint showed a function of the stability and shock absorption in the medial-lateral directions. Conclusion : These findings indicate that the instant equilibrium of posture balance(phase 1) was assessed by the passive phase as Class 1 leverage on the effect of the stability of shock absorption(phase 2) assessed by the active phase on the effect of Class 2 leverage. Application : This study shows that the cause of musculo-skeletal injuries estimated to be focused on the passive phase of landing and this findings could help the prevention of lower damage from loads involving landing related to the game of sports.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.189-195
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• 2017

Objective: The aim of this study was to examine the effect of foot landing type (forefoot vs. rearfoot landing) on kinematics, kinetics, and energy absorption of hip, knee, and ankle joints. Method: Twenty-five healthy men performed single-leg landings with two different foot landing types: forefoot and rearfoot landing. A motion-capture system equipped with eight infrared cameras and a synchronized force plate embedded in the floor was used. Three-dimensional kinematic and kinetic parameters were compared using paired two-tailed Student's t-tests at a significance level of .05. Results: On initial contact, a greater knee flexion angle was shown during rearfoot landing (p < .001), but the lower knee flexion angle was found at peak vertical ground reaction force (GRF) (p < .001). On initial contact, ankles showed plantarflexion, inversion, and external rotation during forefoot landing, while dorsiflexion, eversion, and internal rotation were shown during rearfoot landing (p < .001, all). At peak vertical GRF, the knee extension moment and ankle plantarflexion moment were lower in rearfoot landing than in forefoot landing (p = .003 and p < .001, respectively). From initial contact to peak vertical GRF, the negative work of the hip, knee, and ankle joint was significantly reduced during rearfoot landing (p < .001, all). The contribution to the total work of the ankle joint was the greatest during forefoot landing, whereas the contribution to the total work of the hip joint was the greatest during rearfoot landing. Conclusion: These results suggest that the energy absorption strategy was changed during rearfoot landing compared with forefoot landing according to lower-extremity joint kinematics and kinetics.

• The Journal of Korean Physical Therapy
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• v.21 no.2
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• pp.87-95
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• 2009

Purpose: This study reports the basic reference data of the specific gait parameters for Korean normal adults. Methods: The basic gait parameters were extracted from 73 Adults (35 men and 38 women), 18 to 33 years of age, using a Vicon MX motion analysis system. The segment kinetics, such as joint moment and power, was analyzed at the hip, knee and ankle. Results: The motion patterns are typically associated with a specific phase of the gait cycle. The temporal-spatial gait parameters of Korean normal adults, such as cadence, walking speed, stride length, single support and double support, were similar to the other western reference data. The kinetic parameters of Korean normal adults, such as joint moments of force, joint mechanical power generation or absorption and ground reaction forces, were also similar to other western reference datasets. Conclusion: This study demonstrates that objective gait analysis can be used to document the gait patterns of normal healthy adults. The techniques of 3-dimensional temporal-spatial gait parameters and kinematic parameters analysis can provide a detailed biomechanical description of a normal and pathological gait.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• Korean Journal of Applied Biomechanics
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• v.22 no.3
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• pp.315-324
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• 2012

The purpose of current study was to investigate the effects of the heights on the lower extremities, torso and neck segments for energy dissipation during single-leg drop landing from different heights. Twenty eight young healthy male subjects(age: $23.21{\pm}1.66yr$, height: $176.03{\pm}4.22cm$, weight: $68.93{\pm}5.36kg$) were participated in this study. The subjects performed the single-leg drop landing from the various height(30, 45 & 60 cm). Force plates and motion-capture system were used to capture ground reaction force and kinematics data, respectively. The results were as follows. First, the ROM at the ankle, knee, hip and trunk was increased with the increased heights but the ROM at the neck was increased in the 60cm. Second, the angular velocity, moment and eccentric work at the ankle, knee, hip, trunk, and neck was increased with the increased heights. Third, the contribution to total work at the knee joint was not significantly different, while the ankle joint rate was decreased and hip and neck rate was increased in the 60cm, and trunk rate was increased with the increased heights. Lastly, the increase in landing height was able to augment the level of energy dissipation not only at the lower extremities but also at the trunk and neck. The findings showed that drop landing affect trunk and neck with lower extremity joints. Therefore, we need to consider that trunk and neck strengthening including stability should be added to reduce sports injury during prevention training.