• 한국구조물진단유지관리공학회 논문집
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• 제13권2호통권54호
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• pp.137-144
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• 2009

본 연구에서는 최근 계단공사의 시공성 개선을 위하여 새롭게 제안된 Hi-Form 접합부를 대상으로 동특성 정보를 이용하는 계확정기법을 응용하여 접합부의 강성평가를 수행하였으며 해석 시 동 접합부의 합리적인 모델링기법을 제시하였다. 실험 및 해석결과, 균열패턴 및 하중-변형관계 그리고 손상분포로부터 Hi-Form 접합부는 완전한 응력전달을 위한 강접합으로 간주하기 어려운 것으로 나타났으며, 실험결과에 근거하여 Hi-Form 접합부를 약 50%의 강성감소 요소로 모델링 할 것을 제안하였다.

• PNF and Movement
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• 제20권2호
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• pp.189-201
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• 2022

Purpose: The purpose of this study was to investigate the effect of McConnell taping and Kinesio taping on pain and lower extremity joint angles when patients with patellofemoral pain syndrome (PFPS) ascend stairs. Methods: Fifty young adults who were experiencing anterior knee pain due to PFPS were selected as participants. Then, 25 patients were randomly assigned to the McConnell taping group and 25 to the Kinesio taping group. Pain and lower extremity joint angle were measured while ascending stairs before and after the intervention. A paired t-test was performed to evaluate the amount of change in the parameter values after the intervention within the groups, and an independent t-test was used to compare the results of the groups. Results: In the within-group comparisons, a statistically significant difference was found in both groups between the anterior knee pain scale scores recorded before and after the intervention (p < 0.05). A statistically significant difference was also found between the groups (p < 0.05). Comparison of the lower extremity joint angles at initial contact, loading response, terminal stance, and pre-swing within the groups showed that there were statistically significant differences in the hip, knee flexion, abduction, lateral rotation, and dorsiflexion angles in both the McConnell and Kinesio taping groups (p < 0.05). There was also a statistically significant difference in all angles between the groups during the following events (p < 0.05): (1) at initial contact, (2) at loading response (except hip flexion angle), (3) at terminal stance (except hip flexion and lateral rotation angles), and (4) at pre-swing (except hip, knee abduction, and inversion angles). Conclusion: McConnell taping and Kinesio taping both effectively improved the occurrence of knee pain and the lower extremity joint angles during stair ascent in patients with PFPS. However, McConnell taping had a significant impact on pain reduction and lower extremity joint angles compared to Kinesio taping.

• International journal of advanced smart convergence
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• 제9권4호
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• pp.26-33
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• 2020

This study measured the downward stepping movement relative to weight change (no load, and 10%, 20%, 30% of body weight respectively of adult male (n=10) from standardized stair (rise of 0.3 m, tread of 0.29 m, width of 1 m). The 3-dimensional cinematography and ground reaction force were also utilized for analysis of leg stiffness: Peak vertical force, change in stance phase leg length, Torque of whole body, kinematic variables. The strategy heightened the leg stiffness and standardized vertical ground reaction force relative to the added weights (p<.01). Torque showed rather larger rotational force in case of no load, but less in 10% of body weight (p<.05). Similarly angle of hip joint showed most extended in no-load, but most flexed in 10% of body weight (p<.05). Inclined angle of body trunk showed largest range in posterior direction in no-load, but in vertical line nearly relative to added weights (p<.001). Thus the result of the study proved that downward stepping strategy altered from height of 30 cm, regardless of added weight, did not affect velocity and length of lower leg. But added weight contributed to more vertical impulse force and increase of rigidity of whole body than forward rotational torque under condition of altered stepping strategy. In future study, the experimental on effect of weight change and alteration of downward stepping strategy using ankle joint may provide helpful information for development of enhanced program of prevention and rehabilitation on motor performance and injury.

• 한국정밀공학회지
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• 제23권4호
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• 한국운동역학회지
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• 제23권3호
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• pp.245-252
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• 2013

The purpose of this study was to analyze the effect that various loads have on the lower limb biomechanics. The following variables were measured and analyzed; performance time for each phase, lower limb moments and joint angles, and ground reaction forces. The kinematic and kinetic data was recorded by 2 force platforms and a motion capture system while 12 healthy adults in their twenties stepped down three steps under loads of 0%, 10%, 20% BW. Results are as follows. First, the different loading conditions did not seem to significantly affect the performance times and the joint angles. Second, the largest ground reaction forces were observed at the 1 step at the 10% BW condition. Finally, at the 0% BW loading condition the right hip extension moment was the smallest and the left hip flexion moment was the largest. The results show that there are not any significant changes in the biomechanics of the lower limbs under loading conditions up to 20% BW. Further investigations including more loading conditions with more weights and more additional steps analyzed are needed.

• PNF and Movement
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• 제21권1호
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• pp.107-117
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• 2023

Purpose: The aim of this study is to compare the immediate effects of weight-assisting methods on vastus medialis oblique (VMO) and vastus lateralis (VL) muscle activation, on the VMO/VL muscle activation ratio, and on muscle onset time in healthy subjects when ascending stairs. Methods: Healthy participants were randomly assigned to the belt group (n = 11), hand group (n = 11), and control group (n = 11). In the belt group, a belt was wrapped around the sacrum and pulled forward with both hands, moving the center of weight forward, while ascending stairs. The hand group grasped the hips with both hands and climbed stairs, assisting their weight from the rear and moving the center of weight backward, and the control group climbed the stairs without any intervention. Results: Muscle activation of the VMO decreased significantly after the intervention in the belt and hand groups, and activation of the VL muscle in both groups showed a greater decrease than that of the VMO muscle. Further, the VMO/VL muscle activation ratio increased significantly, with an improvement shown in the order of the belt group, hand group, and control group, while muscle onset time also improved in the order of the belt group, hand group, and control group. Conclusion: The belt group demonstrated the greatest effect across all dependent variables, confirming that in clinical practice, these two weight-assisting methods are more effective interventions during stair ascent for patients with knee joint instability, pain, and imbalance than no assistance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.57-59
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• 1994

The transformer core using amorphous Fe-B-Si ribbon were designed by magnetostatic software. The basic model of core is Butt-Lap-Step type, non-culled typo and stair type core joint. And the variables are the number of ribbons for on step, flux density and core shape.

• 전기학회논문지
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• 제58권2호
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• Journal of Biosystems Engineering
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• 제32권5호
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• 대한족부족관절학회지
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• 제1권2호
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• pp.89-94
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• 1997

The functional disabilities post arthrodesis of the ankle include difficulty in climbing inclined surface, such as hill, ramps, or stair even through without pain. There will be periankle joints arthrosis as time passes. Total ankle replacement permits remobilization, no need for prolonged immobilization. There will be no increas in the mechanical stress of the neiboring joint. Total ankle replacement has been proposed as an alternative to arthrodesis in the management of painful arthrosis of the tibiotalar joint recently. We performed 7 cases of replacement from 1990. 4. 1 to 1996. 7. 1 with 2-3 years follow up. A retrospective review was undertaken for 7 patients with the arthrosis of tibiotatar joint. The results were as following. 1. The clinical results according to the point system for ankle study evaluation were excellent in 2 cases, good in 4 cases, and fair 1 case. 2. The improvement was especially obvious in terms of pain and functional recovery. 3. Total ankle replacement especially unconstrained type seems quite good alternative to arthrodesis.