• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1190-1193
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• 2004

The purpose of this study is to evaluate the possibility of identifying joint damping property through commercially available isokinetic ergometer (BIODEX). The proposed method is to estimate the damping torque of the knee joint from the difference between the external joint torque for maintaining isokinetic movement and the gravity torque of the lower leg. The damping torque was estimated at various joint angular velocities, from which the damping property would be derived. Measurement setup was composed of the BIODEX system with an external force sensor and Labview system. Matlab was used in the analysis of the damping property. The experimental result showed that the small variation in angular velocity due to acceleration and deceleration of the crank arm resulted in greater change of inertial torque than the damping torque, so that the estimation of damping property from the isokinetic movement is difficult.

• Journal of Oral Medicine and Pain
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• 제21권2호
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• pp.369-382
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• 1996

The author performed this study to investige the relationship between condylar movements recorded with Pantronicⓡ and mandibular rotational torque movements with BioEGNⓡ. For this study 56 patients with Temporomandibular disorders(TMD) and 30 dental students without any masticatory signs and symptoms were selected as patients group and control group, respectively. The items recorded with Pantronicⓡ(Denar Corp., USA) were immediate side-shift, progressive side-shift, angle of orbiting path, protrusive path and PRI. BioEGNⓡ(Bioelectric gnathography, Bioresearch Inc., USA) were used to measure the amounts of mandibular rotational torque movements in frontal and horizontal plane, and the distance of mandibular translation at incisal area. Amount of mandibular rotational torque movement depicted between the condyles was automatically analysed by angle and difference in frontal and horizontal plane. The obtained data were processed with SAS program and the conclusion of this study were as follows : 1. Mean values of items between patients group and control group in Pantronic measurements were not significantly different except in left protrusive path and in Pantronic Reproducibility Index(PRI). There were no significant difference of condylar paths by preferred chewing side and affected side between the two groups. 2. The amount of mandibular rotational torque movements were differed in frontal angle and difference on protrusion, and in frontal and in horizontal difference on left excursion between the two groups. But the amounts of translatory movements were actually same on all eccentric movements. 3. The amount of mandibular rotational torque movements with splint mere almost not changed from those without splint, with the exception of in horizontal measurements on protrusion. 4. The correlations of items between in Pantronic measurements and in BioEGN measurements wert not consistently, significant, however, generally the ISS related significantly with horizontal torque movement positively, and with frontal torque movement negatively on the contrary, the PSS showed positive correlation with frontal torque movement, and negative correlation with horizontal torque movement.

• Journal of Oral Medicine and Pain
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• 제30권4호
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• pp.411-426
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• 2005

이갈이나 이악물기 시 근활성, 하악의 이동, 악관절에 가해지는 부하, 그리고 교합에 미치는 영향 등에 대한 연구는 많았으나 하악운동에 미치는 영향에 대해서는 연구가 적었다. 따라서 측두하악장애의 주요한 기여요인으로 간주되는 이악물기나 강한 씹기에 의해 나타나는 하악의 미세한 운동양태에 대해서는 더 많은 연구가 수행될 필요가 있으며, 이에 본 연구에서는 하악의 비틀림 회전운동을 중심으로 이악물기 및 강한 씹기의 영향을 조사하였다. 저작계 이상이 없는 건강한 남자 14명을 선정하여 교합고경 및 형태의 변화와 수의적 이악물기 수준의 차이가 이악물기 및 씹기 운동 시 나타나는 하악의 비틀림 회전운동(torque rotational movement)에 미치는 영향을 조사하였다. 각 교합조건과 이악물기 힘에서의 씹기 운동은 먼저 나무젓가락(분리기)이 없는 한 번의 이악물기와 나무젓가락을 구치부에 위치시킨 상태에서 두 번에 걸친 씹는 운동 등 세 번의 하악운동으로 구성되었다. 본 연구의 결론은 다음과 같다. 1. 좌측으로 씹을 때와 우측으로 씹을 때 간에 전두면 및 시상면상 운동거리는 두 가지 이악물기 힘 모두에서 차이가 없었으나 하악의 운동속도는 다른 양상을 보여 강한 이악물기에서는 차이가 없었으나 약한 이악물기에서는 좌측으로 씹을 때 우측에 비해 속도가 다소 빠른 경향을 보였다. 이때 하악의 비틀림 회전운동각은 두 가지 이악물기 모두에서 전두면상 차이는 거의 없었으나 수평면상 각도에서는 씹는 측에 따라 차이가 있는 경향을 보였다. 2. 이악물기 힘의 차이는 전두면 및 시상면상 운동거리와 속도에 영향을 미쳐 강한 씹기에서 약한 씹기에 비해 측정치가 크게 나타났으며 하악의 비틀림 회전운동각 역시 강한 씹기에서 수평면상 운동각이 다소 증가된 양상을 보였다. 3. 전두면 및 시상면상 개구거리는 교합조건에 따른 차이를 보였는데, 즉 웨이퍼나 레진블록 등 교합고경이 높은 교합형태일수록 운동거리가 감소하였으며, 이때 강한 씹기에서는 운동속도 역시 유사한 양상으로 감소하였다. 그러나 하악의 비틀림 회전운동각은 전두면 및 수평면 모두에서 교합조건에 따른 차이를 거의 나타내지 않았다. 4. 세 번의 씹는 운동에서 분리기가 없는 경우에 비해 있는 경우에서 대체로 전두면상 회전운동각을 제외한 나머지 하악의 비틀림 회전운동량은 모두 증가하는 양상을 보였다. 그러나 이때 각 교합형태 간 동일항목의 비교에서는 전두면상 회전운동거리가 이악물기 힘에 따른 차이를 보여 약한 이악물기에서 유의한 변화를 나타내었다. 이상의 연구를 통해 하악 비틀림 회전운동의 전체적인 양상은 관찰면에 따라 다르게 나타나 이악물기 힘에 따른 차이는 전두면에 비해 수평면상 측정치가 더 많이 변화되는 모습을 보였으나 교합조건에 따른 양상은 관찰면 간 차이를 보이지 않았다. 한편 이악물기 및 씹는 운동 각각에서의 하악 비틀림 회전운동량은 교합조건이나 이악물기 힘에 관계없이 대체로 분리기 씹기에 의해 수평면상 회전운동량의 변화가 전두면상 측정치에 비해 더 유의하게 나타났다.

• 대한의용생체공학회:의공학회지
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• 제31권2호
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• pp.162-169
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• 2010

This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.

• Journal of Oral Medicine and Pain
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• 제24권2호
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• pp.207-217
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• 1999

This study was performed to investigate the effects of clutch adaptation on the mandibular rotational torque movement in normal people. 69 dental students were selected for the study. Their mean age were 23.6 years and they did not present any signs and symptoms of temporomandibular disorders. $BioEGN^{(R)}$ with $Rotate^{(R)}$ program was used to observe and record the amount of mandibular rotational torque on protrusion, on right excursion, on left excursion, and on comfortable wide opening movement. The natural tooth contact movement and the movement with clutch were performed in the above four each mandibular movement. Clutch was made by the method used in $Pantronic^{(R)}$ clutch fabrication. Distance of slant frontal which was translatory trajectory in frontal plane and degree of rotational torque in horizontal and in frontal plane were recorded. The data obtained were processed with SPSSWIN program and the results were as follows : 1. Distance of slant frontal in each mandibular movement generally increased with clutch. 2. Degree of rotational torque in horizontal and in frontal plane on protrusion and on lateral excursions did not increase with clutch, but the degree on wide opening increased with clutch. 3. Degree of rotational torque in horizontal plane on protrusion and on lateral excursions did not show any difference between right and left side, but the degree in frontal plane on protrusion and on lateral excursions showed significant difference between right and left side. 4. Total amount of rotational torque from right and left sides on protrusion and lateral excursions were not increased with clutch, but the degree on wide opening movement was increased with clutch. And in this case, degree in horizontal plane was larger than that in frontal plane. 5. Correlation between total amount of rotational torque in horizontal plane and that in frontal plane were highly significant on protrusion and on lateral excursions with or without clutch, but the significant correlation on wide opening without clutch became not significant with clutch.

• Journal of Oral Medicine and Pain
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• 제26권1호
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• pp.59-73
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• 2001

This study was performed to investigate the effects of occlusal appliance on the mandibular position and the mandibular rotational torque movement during speech. For this study, 20 patients with temporomandibular disorders(TMDs) and 20 normal subjects without any signs and symptoms in the masticatory system were selected as the patient group and as the normal group, respectively. Biopak $system^{(R)}$(Bioresearch Inc., Milwaukee, USA) and a sentence of 'Sue is missing her house' were used for recording and for observing of speech pattern. There were five mandibular positions observed in this study, that is, mandibular rest position, 'ssi', 'her', 'ha', and 's' speech position. In each position, slant and A-P distance in sagittal plane, vertical distance and lateral distance in frontal plane were measured. Amount of the mandibular rotational torque movement were measured at 'her', 'ha' speech position and for all through speech movement. Centric relation splint(CRS) was placed in both groups, but anterior or posterior bite plane were placed in normal subjects only. Data collected were processed and analysed by SPSS windows program. The results of this study were as follows : 1. Mandibular positions in both groups were not different before adaptation, with CRS, and after removal, but total amount of the mandibular rotational torque movement was greater in patients. 2. Mandible was slightly placed anteriorly with CRS at 'her' and 'ha' speech position in patients, but was placed anteriorly at all the five positions in normal subjects. 3. Difference with type of occlusal appliance in normal subjects were noted only for vertical distance at 'ssi' and 'ha' speech position, and the distance with CRS were more than that with posterior bite plane. 4. Mandibular rotational torque movement at 'her' and 'ha' speech position was greater in patients, but the difference was disappeared after appliance removal. And the torque movement was greater at 'ha' speech position than that at 'her' speech position in frontal plane. It could be concluded that the adaptation of occlusal appliance showed a tendency to locate the mandible anteriorly during speech in both groups, but did not affect total mandibular rotational torque movement which was greater in patients.

• Journal of Oral Medicine and Pain
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• 제25권4호
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• pp.383-394
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• 2000

This study was performed to investigate the effect of change of body posture on the rest position and the rotational torque movement of the mandible. Thirty dental students without any signs and symptoms of temporomandibular disorders and with natural dentition were selected for this study. Cervical inclination and the amount of the mandibular movement on protrusion, on left and right excursion, and on tapping in three body postures such as sitting position, supine position without pillow, and supine position with pillow were measured by goniometer, Cervical-Range-of-$Motion^{(R)}$, and mandibular tracking device, $BioEGN^{(R)}$ with $Rotate!^{(R)}$ program. The data obtained were classified and processed according to body posture and type of lateral guidance with SPSS windows program and the results were as follows: 1. There was significant difference among the three cervical inclinations by body postures. 2. Comparison of mandibular rest positions among body postures showed significant difference only for lateral distance in frontal plane, but comparison between before and after swallowing showed significant difference except for the lateral distance, vice versa. 3. Distance and amount of the rotational torque movement on protrusion and/or lateral excursions didn't show any difference by body posture. But by both body posture and lateral guidance type, there were slightly significant difference for some items. 4. A significant difference was shown for the rotational torque movement in frontal plane on tapping by body postures, for the lateral distance in frontal plane on sitting position by lateral guidance type, and for the rotational torque movement in frontal plane by both body posture and lateral guidance type.

• 감성과학
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• 제7권4호
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• pp.19-24
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• 2004

본 연구의 목적은 관절계 댐핑특성을 상용 에르고미터(BIODEX)의 등속운동을 이용하여 파악할 수 있는지를 평가하는 것이다. 제안된 방법은 등속운동을 유지하기 위해 인가한 외부토크와 하퇴의 관성토크의 차로부터 슬관절의 댐핑토크를 계산하는 것이다. 댐핑토크는 여러 가지 관절각속도에서 산출되었고, 이로부터 댐핑특성을 유도하였다. 실험장치는 BIODEX 시스템과 별도의 힘센서 및 Labview 시스템으로 구성되었다. 댐핑특성의 해석에는 Matlab을 사용하였다. 실험결과로부터 등속운동의 기동 및 종료를 위한 크랭크 암의 가속 및 감속으로 인한 미세한 각속도의 변화가 댐핑토크의 영향보다 큰 관성토크를 유발하는 것을 알 수 있었다. 따라서, 현재의 등속운동장비로는 댐핑특성을 추정하기가 어렵다고 보여진다.

• 로봇학회논문지
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• 제14권4호
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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.

• 대한치과교정학회지
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• 제31권1호
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• pp.97-105
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• 2001

교정 치료 시 많은 경우 상악 전치부를 상당량 견인하게 되며 이 때 치아의 이동량과 전방 피질골의 개조량이 동일하게 일어나지 않는다면 치주적인 문제가 발생할 수 있게 된다. 이에 본 연구에서는 상악 전치가 후방 견인될 때 치아의 이동량과 피질골의 개조량의 관계를 알아보기 위하여 성장이 완료된 만 18세 이상의 성인 여자환자 56명을 대상으로 치료 전후의 측모두부 방사선 사진을 계측하였다. 연구대상 56명은 전치의 후방견인 시 경사이동이 주로 일어난 환자(26명 )와 치체 이동이 동반된 환자(30명)로 나누었으며 치료 전후의 측모두부방사선 사진을 true horizontal plane 을 기준으로 하여 중첩하였다. Tip-Group(경사이동된 군)에서는 수평적인 bone remodeling/tooth movement ratio가 1:1.63, Torque-Group(치체 이동이 동반된 군)에서는 1:1.66이었다. 두 군 모두에서 치아의 이동량과 골의 개조량이 동일하지 않았기 때문에 경사 이동 시에는 치근첨이 구개측피질골판에서 멀어지고 순측피질골판에 가까워지며, 치체이동이 동반된 군에서는 치근이 순측피질골판에서는 멀어지고 구개측피질골판에 접근하게 된다. 따라서 상악의 전방 피질골의 두께가 매우 얇은 환자에서는 상악 전치의 후방견인량에 제한이 있게 되며 골격적 부조화가 심한 경우에는 악교정수술을 동반한 치료를 고려하고, 교정적 절충치료가 필요한 경우 술자는 그 치료한계를 명확히 인식해야할 것이다.