• Physical Therapy Rehabilitation Science
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• v.8 no.2
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• pp.93-98
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• 2019

Objective: The purpose of this study was to investigate the effect of robot arm reach training on upper extremity functional movement in chronic stroke survivors. Design: One group pretest-posttest design. Methods: Thirteen chronic stroke survivors participated in this study. Robot arm reach training was performed with a Whole Arm Manipulator (WAM) and a 120-inch projective display to provide visual and auditory feedback. During the robotic arm reach training, WAM provided gravity compensation and assist-as-needed (AAN) force according to the robot control mode. When a participant could not move the arm toward the target for more than 2 seconds, WAM provided AAN force to reach the desired targets. All patients participated in the training for 40 minutes per day, 3 times a week, for 4 weeks. Main outcome measures were the Fugl-Meyer Assessment (FMA), Action Research Arm Test (ARAT) and Box and Block Test (BBT) to assess upper extremity functional movement. Results: After 4 weeks, significant improvement was observed in upper extremity functional movement (FMA: 42.15 to 46.23, BBT: 12.23 to 14.00, p<0.05). In the subscore analysis of the FMA upper extremity motor function domains, significant improvement was observed in upper extremity and coordination/speed units (p<0.05). However, there were no significant differences in the ARAT. Conclusions: This study showed the positive effects of robot arm reach training on upper extremity functional movement in chronic stroke survivors. In particular, we confirmed that robot arm reach training could have a positive influence by leading to improvement of motor recovery of the proximal upper extremity.

• Journal of the Korean Geographical Society
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• v.42 no.1 s.118
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• pp.27-40
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• 2007

The streams evolve to diverse forms influenced by various factors such as rock resistance tectonic process, sediments and discharge. This study focuses on erosion resistance of rocks among these factors. The morphology of plane and longitudinal profile has been analysed in upper and lower reach of 6 streams using GIS; Yeoryong-cheon, Heungjeong-cheon, Duhak-cheon, Daehwa-cheon, Namcheon-cheon, Guryong-cheon, having distinct bedrock types between upper and lower reach. While the basins of granite have gentle slope, low concavity and wide valley area, those of gneiss form steep slope, high concavity and narrow valley area. However, the basins of sedimentary rock make steep slope and high relief in main channel, the other features show some differences in each stream. Among the various morphological features, the indices on slope and concavity of main channel, drainage density, ratio of valley area, average slope and average relief of the basin which have clear differences between rocks in upper and lower reach are calculated to interpret the erosion resistance of rocks in upper and lower reach. As a result, the upper reaches composed of gneiss have the highest erosion resistance, sedimentary rocks in upper and lower reaches show moderate resistance, and granite reaches generally have the lowest resistance except the upper reaches bordered by sedimentary rock.

• Journal of Environmental Impact Assessment
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• v.14 no.1
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• pp.37-46
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• 2005

In this study, field surveys were performed for 12 stations in main stream of Hongjechun and 3 stations in 2 tributaries, respectively, in order to find out dried reaches of the stream, and to examine the water quality of the stream, and to suggest methods to improve the stream concerned into eco-stream. In the results of water quality in stream, however distinct difference for seasonal variation of the water quality was not found, the water quality of winter was relatively better than that of other seasons. Annual mean concentration of BOD was 6.5mg/L in the upper reach, 11.8mg/L in the middle reach, 15.3mg/L in the lower reach of main stream, and total mean was 12.5mg/L, while the BOD concentration was 3.6mg/L in the upper reach, and was 9.6mg/L in the low reach of Gukichun, the tributary. Based on flow examination, the level of water depth was so low and the flow can not be traveled downstream in the reach between ST-9 and ST-10 for low water season, whereas it was observed that the flow was traveling except the dry season even the water level was lower than that of adjacent stations.

• Korean Journal of Ichthyology
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• v.27 no.2
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• pp.116-132
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• 2015

Freshwater fish fauna and community structure were investigated at 44 stations in upper reach of the Nakdong river, Korea from March to October 2014. During the surveyed period 42 species and 4 types belonging to 34 genera and 14 families were collected. In this collection fishes of Cyprinidae were 17 species and 4 types, most numerous possessing 43.2% of all. There were 17 Korean endemic species including Kichulchoia multifasciata, 3 endangered species such as Koreocobitis naktongensis, Lethenteron reissneri and Brachymystax lenok tsinlingensis and 2 exotic species such as Lepomis macrochirus and Micropterus salmoides. Fish species transferred from other native rivers were 9 species including Hemibarbus mylodon, Coreoleuciscus slpendidus Han river type, Opsariichthys uncirostris amurensis, Iksookimia koreensis and Liobagrus andersoni. Dominant species based on the number of individuals was Rhynchocypris oxycephalus (21.44%) and sub-dominant species were Zacco koreanus NE type (18.55%). The community analysis revealed that the structure of fish community in upper reach of the Nakdong river was very stable and diverse in having diversity 1.101, evenness 0.670, dominance 0.400 and species richness 4.454. Fish community was divided into 5 groups based on similarity indices among surveyed stations such as uppermost, upper I, upper II, mid-upper, middle reach group.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.787-796
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• 1995

A man model is a useful design tool for the evaluation of man machine systems and products. An arm reach trajectory prediction for such a model will be specifically useful to present human activities and, consequently, could increase the accuracy and reality of the evaluation. In this study, a three-dimensional reach trajectory prediction model was developed using an inverse kinematics technique. The upper body was modeled as a four link open kinematic chain with seven degrees of freedom. The Resolved Motion Method used for the robot kinematics problem was used to predict the joint movements. The cost function of the perceived discomfort developed using the central composite design was also used as a performance function. This model predicts the posture by moving the joints to minimize the discomfort on the constraint of the end effector velocity directed to a target point. The results of the pairwise t-test showed that all the joint coordinates except the shoulder joint's showed statistically no differences at .alpha. = 0.01. The reach trajectory prediction model developed in this study was found to accurately simulate human arm reach trajectory and the model will help understand the human arm reach movement.

• Physical Therapy Korea
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• v.25 no.3
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• pp.51-59
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• 2018

Background: Despite muscle latency times and patterns were used as broad examination tools to diagnose disease and recovery, previous studies have not compared the dominant arm to the non-dominant arm in muscle latency time and muscle recruitment patterns during reaching and reach-to-grasp movements. Objects: The present study aimed to investigate dominant and non-dominant hand differences in muscle latency time and recruitment pattern during reaching and reach-to-grasp movements. In addition, by manipulating the speed of movement, we examined the effect of movement speed on neuromuscular control of both right and left hands. Methods: A total of 28 right-handed (measured by Edinburgh Handedness Inventory) healthy subjects were recruited. We recorded surface electromyography muscle latency time and muscle recruitment patterns of four upper extremity muscles (i.e., anterior deltoid, triceps brachii, flexor digitorum superficialis, and extensor digitorum) from each left and right arm. Mixed-effect linear regression was used to detect differences between hands, reaching and reach-to-grasp, and the fast and preferred speed conditions. Results: There were no significant differences in muscle latency time between dominant and non-dominant hands or reaching and reach-to-grasp tasks (p>.05). However, there was a significantly longer muscle latency time in the preferred speed condition than the fast speed condition on both reaching and reach-to-grasp tasks (p<.05). Conclusion: These findings showed similar muscle latency time and muscle activation patterns with respect to movement speeds and tasks. Our findings hope to provide normative muscle physiology data for both right and left hands, thus aiding the understanding of the abnormal movements from patients and to develop appropriate rehabilitation strategies specific to dominant and non-dominant hands.

• The Journal of Korean Physical Therapy
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• v.12 no.1
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• pp.15-21
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• 2000

Rising from a supine position to erect stance is an important milestone in treatment of patients with neurologic dysfunction. The purposes of this study wed to describe the movement patterns that hemiplegic patients use when rising to a standing. position and to investigate whether movement patterns that an proposed to treat of functional activity, Seventeen patients were videotaped performing three trials of rising. Movement patterns were described with three body components : upper extremities, head-trunk, lower extremities. Subjects rose most commonly using a push and reach pattern of the upper extremities-symmetrical interrupted by rotation pattern in the head-trunk-an asymmetrical squat pattern in the lower extremities and a push and reach pattern of the upper extremities-symmetrical interrupted by rotation pattern in the head-trunk-an symmetrical squat with balance step pattern in the lower extremities.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1994.04a
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• pp.561-568
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• 1994

A man model can be used as an effective tool to design ergonomically sound products and workplaces, and subsequently evaluate them properly. For a man model to be truly useful, it must be integrated with a posture prediction model which should be capable of representing the human arm reach posture in the context of equipments and workspaces. Since the human movement possesses redundant degrees of freedom, accurate representation or prediction of human movement was known to be a difficult problem. To solve this redundancy problem, a psychophysical cost function was suggested in this study which defines a cost value for each joint movement angle. The psychophysical cost function developed integrates the psychophysical discomfort of joints and the joint range availability concept which has been used for redundant arm manipulation in robotics to predict the arm reach posture. To properly predict an arm reach posture, an arm reach posture prediction model was then developed in which a posture configuration that provides the minimum total cost is chosen. The predictivity of the psychophysical cost function was compared with that of the biomechanical cost function which is based on the minimization of joint torque. Here, the human body is regarded as a two-dimensional multi-link system which consists of four links ; trunk, upper arm, lower arm and hand. Real reach postures were photographed from the subjects and were compared to the postures predicted by the model. Results showed that the postures predicted by the psychophysical cost function closely simulated human reach postures and the predictivity was more accurate than that by the biomechanical cost function.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.259-267
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• 2014

The purpose of this study was to find the relationship between standing posture biomechanics and physical fitness in the elderly. Physical fitness variables and postural variables for 227 (140 women and 87 men) elderly individuals were tested. Physical fitness tests (Korean Institute of Sports Science, 2012) included 3m sit, walk, and return, grip test, 30 second chair sit and stand, sit and reach, figure 8 walks, and 2 minute stationary march. Postural biomechanics variables included resting calcaneal stance position (RCSP), shoulder slope, pelvic slope, knee flexion angle, leg length difference, thoracic angle, and upper body slope. In statistical analysis, multiple regression was conducted by using stepwise selection method via SAS (version 9.2). Analysis for both men and women revealed significant relationships between physical fitness and age, upper body slope, knee flexion angle, leg length difference. Pelvic and thoracic angle were only related to figure 8 walking and sit and reach in women, while RCSP and shoulder slope had no relationship with any physical fitness variables.

• Journal of Korean Institute of Industrial Engineers
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• v.16 no.2
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• pp.99-107
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• 1990

Many accidents related to robot operation occur during the robot teaching process. This paper deals with recommendations for the teach pendant design parameters to enhance safety and performances in human-robot interactions. In order to investigate the optimum location and the size of the emergency stop button on the teach pendant, an experiment was conducted with a simulated teach pendant which can accomodate four different locations and three sizes of the button. Under a simulated emergency condition, the reach time to the emergency stop button was measured at random combination of the location and the size of button. The reach time was significantly affected by the location and the size of the emergency stop button. The fastest average reach time was attained with 1.5 inch-diameter button on the upper center of the teach pendant.