• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.131-142
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• 2005

This study was investigated the stability of the AK amputee gait through analysing the variability on kinematic variables between the sound leg and the prosthetic limb. The one male, AK amputee who could walk for himself with his prosthetic limb was participated in this study. Six cameras of the MCU 240 and the QTM(Qualisys Track Manager) software were used for data collecting in this study. The relative angle of both segments was the difference between the absolute angle of the distal segment and the absolute angle of the proximal segment. The coupling angles between the prosthetic limb and the sound leg were caculated on the thigh Flexion/Extension in relative to the shank Flexion/Extension and the shank Flexion/Extension n relative to the foot Flexion/Extension. In order to evaluate the variability of segment and joint angle, C.V. was used, and to evaluate the variability for coupling angles, the Relative motion calculated by vector coding method of the continuous methods was used. As stated, the gait pattern of the prosthetic limb was almost similar gait pattern of the sound leg, but the prosthetic limb showed that the gait pattern of the sound leg and the prosthetic limb were not stable against the sound leg.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1022-1028
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• 2008

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.1
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• pp.9-18
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• 2007

There have been continuous efforts for automation of joint tracking system. This automation process is mainly used to do in root pass of gas metal arc welding in the field of heavy industry and shipbuilding etc. For automation, it is important using of vision sensor. Welding robot with vision sensor is used for weld seam tracking on welding fabrication. Recently, it is used to on post-weld inspection for weld quality evaluation. For real time seam tracking, it is very important role in vision process technique. Vision process is included in filtering and thinning, segmentation processing, feature extraction and recognition. In this paper, it has shown performance comparison results of seam tracking for real time root pass on gas metal arc welding. It can be concluded better segment splitting method than iterative averaging technique in the performance results of seam tracking.

• Journal of the Korean Society of Physical Medicine
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• v.13 no.1
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• pp.99-105
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• 2018

PURPOSE: The aim of this study was to evaluate the concurrent validity and clinical usefulness of the universal plastic goniometer to measure the range of motion of the internal and external rotation of the hip joint using the three dimensional motion analysis which can analyze the joints and segment movements in the most objective and quantitative method. METHODS: Clinical and kinematic data were collected from thirty individuals using a universal plastic goniometer and a ten camera motion analysis system. Passive hip rotation range was obtained three trials for left and right hip joints using two measure methods simultaneously. RESULTS: There were significant differences between all matching measures of the two measures of internal and external rotation of the hip joint (p<.05). The relationship between the two tests for all measurements of the internal and external rotation of the hip was statistically significant with correlation coefficient form r=.87 to .96. (p<.01). CONCLUSION: Clinical measurement of the internal and external rotation of the hip using a universal plastic goniometer is effective to assess the hip condition. However, application of universal plastic goniometer requires careful attention in more accurate evaluation and research verification of the internal and external rotation of hip joint.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.16 no.1
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• pp.50-56
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• 2010

Purpose : To evaluate effects of joint mobilization on the range of motion of chronic low back pain patients. Methods : The subjects were consisted of sixty patients who had non specific chronic low back pain(10 females. 10 males; mean aged 36.5). All subjects received modalities treatment with therapeutic massage for 10minutes and joint mobilization or manipulation for 10minutes per day and three times a week during 4 weeks period. The Multilevel Roland-Morris Disability Questionnaire(MR-MDQ) was used to measure functional disability level. Visual Analogue Scale(VAS) was used to measure subjective pain level. Remodified Schober test(RST) was used to measure forward flexion range of motion of lumbar segment. Finger-to-Floor test(F-T-FT) was used to measure forward flexion range of motion of full spine of low back pain patients. All measurements of each patients were measured at pre-treatment and 4 week post-treatment. Results : The MR-MDQ, VAS, RCT and F-T-FT were significantly different within-subjects(p<.05), Conclusion : The manual therapy included therapeutic massage and joint mobilization found that improved chronic low back pain patients. Further studies are needed to including more subjects on long-term outcomes.

• Journal of Biomedical Engineering Research
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• v.22 no.5
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• pp.459-468
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• 2001

The Average Coordinate Referenee System (ACRS) method is developed to reduce experimental errors in human locomotion analysis. Experimentally measured kinematic data is used to conduct analysis in human modeling, and the model accuracy is directly related to the accuracy of the data. However. the accuracy is questionable due to skin movement. deformation of skeletal structure while in motion and limitations of commercial motion analysis system . In this study. the ACRS method is applied to an optically-tracked segment marker system. although it can be applied to many of the others as well. In the ACRS method, each marker can be treated independently. as the origin of a local coordinate system for its body segment. Errors, inherent in the experimental process. result in different values for the recovered Euler angles at each origin. By employing knowledge of an initial, calibrated segment reference frame, the Euler angles at each marker location can be averaged. minimizing the effect of the skin extension and rotation. Using the developed ACRS methodology the error is reduced when compared to the general Euler angle method commonly applied in motion analysis. If there is no error exist in the experimental gait data. the separation and Penetration distance of the femoraltibial joint using absolute coordinate system is supposed to be zero during one gait cycle. The separation and Penetration distance was ranged up to 18 mm using general Euler angle method and 12 mm using the developed ACRS.

• Physical Therapy Rehabilitation Science
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• v.12 no.3
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• pp.240-250
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• 2023

Objective: The purpose of this study was to characterize the movement of adjacent segments that occurred when posteroanterior joint mobilization was applied to the 3rd lumbar and thereby to provide basic clinical data. Design: Randomized controlled trial design. Methods: While the subjects were receiving posteroanterior joint mobilization of the 3rd lumbar vertebra, LD (lumbar displacement), LID (lumbar intervertebral distance), LIA (lumbar intervertebral angle), and LLA (lumbar lordosis angle) were measured using X-ray, and the data were then analyzed. Changes before and after posteroanterior joint mobilization were analyzed using a paired-sample t-test, and a one-way ANOVA of variance was performed to determine the difference between segmental movements. In addition, Pearson's correlation analysis was performed to determine the correlation between segmental movements. Results: The results revealed that there was a significant change in LD before and after the application of joint mobilization of the 3rd lumbar in all lumbar vertebrae (p<0.000), among which the 2nd lumbar vertebra, an adjacent segment, showed the most significant change. A significant change in LIA angle was observed in all segments (p<0.000), with the most significant change observed between the 2nd and 3rd lumbar vertebrae. There was a significant change in LLA before and after the application of posteroanterior joint mobilization (p<0.000). The correlation analysis showed a high correlation between displacement of the 3rd lumbar vertebra and displacement of all the other lumbar vertebrae. Conclusions: The presence of kinematic movements of the lumbar vertebrae when segmental movements were generated through the application of posteroanterior joint mobilization of the 3rd lumbar vertebra.

• Journal of Korean Tunnelling and Underground Space Association
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• v.5 no.4
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• pp.361-370
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• 2003

In this study, the performance of water tightness of water expansional sealing material and gasket was evaluated. The water tightness test was performed varying the type of inner pressure condition, for which the water expansional sealing material was inundated for 5 days to evaluate the ability of water tightness. In order to carry out this test, we made use of two types of water expansional sealing material; general type and combined type with non-expansional rubber. In the case of gasket, EPDM gasket and complex gasket sticked to the water expansional sealing material were applied. The performance of water tightness depended on the construction defect and the deformation of segment. The construction defect and segment deformation were generally expressed by gap and offset of the construction joint. The results, of tests showed that the performance of water tightness was largely influenced by the gap between segments. Management criteria of gap and offset were proposed.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.77.2-77
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• 2002

Human upright standing posture in the sagittal plane is studied, when it exposed in the antero-posterior vibration. A two link inverted pendulum model is considered and described its functional behavior in terms of ankle and hip joint according to the dominant joints that provides the largest contribution to the corresponding human reactionary motion. The data is analyzed, both in the time domain and the frequency domain. Subjects behave as a non-rigid pendulum with a mass and a spring throughout the whole period of the platform motion. When vision was allowed, each segment of body shows more stabilized.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.539-544
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• 1991

In order to verify robot motions for a desired work, it is necessary to visualize it on a computer screen. This paper presents a simulation algorithm for robot manipulator motion. Kinematic description is based on the Denavit- Hartenberg link representation. In order to be applied to various types of the robot manipulator, inverse kinematics make use of the Newton-Raphson iterative method with the least squares method. Joint variables are interpolated by the lowest polynomial segment satisfying acceleration continuity. The robot motions are generated and then animated on a computer screen in the form of skeleton type.