• 대한예방한의학회지
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• 제18권2호
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• pp.115-123
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• 2014

Objective : The objective of this study is to develop a Qigong exercise program to reinforce musculoskeletal system of seniors appropriate for physical strength and conditions of seniors aged 65 years or above based on health Qigong exercise of oriental medicine. Method : Qigong exercise motions that can improve strength, muscular endurance, flexibility, and cardiovascular endurance of seniors were developed by primarily performing literature review of Qigong experts on the fields like oriental medicine, Qigong exercise, physical education and health science and secondarily using motion training for increased validity of motions. Results : The Qigong exercise program for musculoskeletal system of seniors was designed with 12 motions repeated 8 times and 20 minutes per session, including shoulder exercises (alternate turning of left and right shoulders, turning both arms back and forth, holding and lifting elbow to put it aside), waist exercises (wrapping the head with hands to bow, twisting waist while looking at the tip of hand, large spinning of ball, putting hands together to pull back), and knee exercises (going up a down while lifting a rock, balancing the body while lifting a knee, lifting and spreading knees while drawing circle with arms, raising both arms to the side while lifting heels, breathing). Conclusion : Once the effects of Qigong exercise for musculoskeletal system of seniors developed in this study are tested, the program is expected to contribute to development of Qigong exercise, a core part of oriental medicine health improvement project.

• 대한족부족관절학회지
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• 제14권2호
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• pp.109-114
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• 2010

Purpose: The purpose of this study was to report the surgical outcome of reconstruction of neglected chronic Achilles tendon ruptures with various methods including Achilles tendon allograft. Materials and Methods: Between October 2003 and November 2008, 8 consecutive neglected chronic Achilles tendon ruptures with the defect gap of more than 4 cm underwent surgical reconstruction including V-Y advancement, gastrocnemius fascial turn-down flap, flexor hallucis longus transfer and Achilles tendon allograft. There were 7 males and 1 female who were evaluated at more than 18 months after surgery. At the time of followup, all patients were assessed with regard to postoperative complications, their self-reported level of satisfaction, the American Orthopaedic Foot and Ankle Society (AOFAS) Ankle-Hindfoot scale, 10 repetitive single heel rise, single leg hopping test, and ankle range of motion. Results: The AOFAS score increased from average 71.4 (50-87) to 96.4 (86-100). All patients were able to perform 10-repetitive single heel raise and single leg hopping at the latest follow up. No patient experienced wound complications and deep infection. Six patients were rated as 'excellent' and the other two as 'good'. Conclusion: Neglected chronic Achilles tendon ruptures could be successfully treated with careful selection of the reconstruction method according to the amount of defect gap. With an extensive defect, Achilles tendon allograft can be a good option when the reconstruction is not feasible otherwise.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• 한국정밀공학회지
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• 제33권11호
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• pp.943-950
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• 2016

The purpose of this study was to evaluate and compare by finite element analysis the biomechanical performance, in terms of cervical stand-alone cage screw insert angle (Type 3 - 5: 2 Screws) and screw arrangement (Type 6 and 7: 3 Screws / Type 8 and 9: 4 Screws), and the range of motion (ROM) of traditional anterior cervical discectomy of a fusion device (Type 1: Cage / Type 2: Cage + ACP). Our study suggests that the biomechanical behavior of a postoperative cervical spine could indeed be influenced by design features, such as screw angle and number of screws. In particular, ROM and the risk of subsidence were more sensitive during extension about type 5 (Insert Angle $20^{\circ}$). Our study also suggested that the number of screw asymmetries between up and down for type 6 and 7 could result in differences in the risk of screw fracture manifesting in different clinical aspects.

• 한국전문물리치료학회지
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• 제13권1호
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• pp.24-31
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• 2006

The purpose of this study was to identify the effect of the hip internal rotation on gluteal and erector spinae muscle electromyographic (EMG) activity during treadmill walking. Eleven healthy subjects were recruited. All subjects performed treadmill walking while maintaining the hip in neutral position (condition 1) and in internal rotation (condition 2). Surface EMG activity was recorded from four muscles (gluteus maximus (GM), gluteus medius (GMED), tensor fascia latae (TFL), and erector spinae (ES)) and the hip internal rotation angle was measured using a three dimensional motion analysis system. The gait cycle was determined with two foot switches, and stance phase was normalized as 100% stance phase (SP) for each condition using the MatLab 7.0 program. The normalized EMG activities according to the hip rotation (neutral or internal rotation) were compared using a paired t-test. During the entire SP of treadmill walking, the EMG activities of GM in condition 1 were significantly greater than in condition 2 (p<.05). The EMG activities of TFL and ES in condition 2 were significantly greater than in condition 1 (p<.05). The EMG activities of the GMED in condition 1 were significantly greater than in condition 1 (p>.05) except for 80~100% SP. Further studies need randomized control trials regarding the effect of hip internal rotation on the hip and lumbar spine muscle activity. Kinetic variables during gait or going up and down stairs are also needed.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• 한국정보전자통신기술학회논문지
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• 제16권6호
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• pp.448-453
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• 2023

소형 쿼드콥터 드론의 제작이 다양화되고, 고속 처리가 가능한 MCU의 보급으로 인해 FC에 멀티 센서가 장착되면서, 단순 동작이 아닌 특수 목적의 동작을 수행할 수 있는 소형 드론이 구현되었다. 드론에 장착된 FC 안의 IMU를 통하여 호버링과 자세제어 그리고 위치 이동 제어를 할 수 있었으나, 복잡구조를 갖는 폐쇄된 건물 안에서 GPS 연결과 영상통신이 불가능한 경우는 제어가 쉽지 않다. 본 연구에서는 이러한 공간에서 고저 변화가 있는 장애물을 만났을 경우, Lucas-Kanade 방법을 이용한 optical flow와 IR 센서를 이용하여 스스로 장애물을 넘어서 자율 비행을 수행하는 방법을 제안하였다. 실험을 통하여 안정적인 호버링 동작과 폐쇄 공간의 복잡구조를 대신하는 계단에서, 드론의 고저 비행은 주변의 외적 영향에 의한 허용 오차 10[cm] 이내로 98%의 성공률을 보이며 오르고 내리는 신뢰성 있는 자율 비행이 이루어지는 것을 확인하였다.

• 한국게임학회 논문지
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• 제12권1호
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• pp.67-77
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• 2012

최근 체감형 인터페이스 기술이 발달하면서 체력 향상을 위한 운동게임에 대한 관심이 높아 지고 있다. 우리는 이러한 기능성 게임이 단지 스포츠 행위의 동작 인식뿐만 아니라 특정 운동 효과를 보장해야 한다고 생각한다. 본 논문은 이러한 기능성 운동게임이 심박수와 선호도에 어떠한 영향을 미치는지 연구할 것이다. 우리는 유산소 운동을 위해 개발한 운동게임인 GalaxyBike를 이용하여 실험을 하였다. 또한, 무선 심박센서를 이용하여 피험자들의 심박수를 준비운동, 본운동, 그리고 마무리 운동단계에서 측정하였다. 게임을 완료한 후에는, 설문지를 이용하여 선호도를 조사하였다. 우리는 게임과 운동을 동시에 수행하는 기능성 운동 게임이 건강 체력향상에 대한 참여 유발과 심박수를 증가시키며 유산소 운동의 효과를 제공하는 것을 확인하였다.

• 한국기계가공학회지
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• 제20권11호
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• pp.74-79
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• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

• Journal of Advanced Marine Engineering and Technology
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• 제35권8호
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• pp.1028-1034
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• 2011

본 논문에서는 파도의 상하운동에너지의 이용효율을 높이기 위해서 부양체와 2 D.O.F.(자유도) 진동발전시스템을 일체로 구성한 파력진동발전시스템을 제안한다. 파도가 갖는 상하운동 주파수 중 속도 에너지가 큰 주요 주파수 ${\omega}_1$, ${\omega}_2$을 선정하고, 2 D.O.F. 파력진동발전시스템의 고유진동수와 선정된 주파수들을 일치시킨다. 그러면 공진효과에 의해 각각의 질량과 권선사이의 상대속도가 파도의 상하운동속도보다 커진다. 또한 2 D.O.F. 진동시스템의 연성효과로 인한 1 D.O.F. 파력진동발전시스템보다 더 많은 전기에너지를 얻을 수 있다. 따라서 본 논문에서 제안한 2 D.O.F. 파력 발전시스템은 파도가 갖는 에너지를 더 많이 이용할 뿐만 아니라 더 많은 전기에너지를 얻을 수 있는 장점을 가짐을 알 수 있었다.