• 방사성폐기물학회지
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• 제2권3호
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• pp.189-199
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• 2004

기계식 마스터-슬레이브 매니퓰레이터의 결점인 접근 지역의 제한을 극복하기 위해 차세대관리 공정장치 원격 유지보수용 천정이동 서보 매니퓰레이터(Bridge Transported Servo Manipulator, BTSM) 시스템을 개발하고 있다. 서보 매니퓰레이터는 핫셀 내 천정이동 브릿지(bridge)에 부착되는 슬레이브 매니퓰레이터와 핫셀 밖 운전지 역에 설치되는 마스터 매니퓰레이터로 구성된다. 각각의 매니퓰레이터는 몸체 회전, 상부 팔 틸트(tilt), 하부 팔 틸트, 하부 팔 회전, 손목 팬/틸트(pan & tilt) 및 잡는 운동(grasp motion)의 7 자유도를 갖는다. 하부 팔 회전, 손목 팬/틸트 및 잡는 운동은 매니퓰레이터의 무게에 비해 취급 용량을 크게 하고, 마찰을 작게 하기 위하여 와이어 구동 메카니즘을 채택하였다. 그러나, 와이어 구동 메카니즘은 한 축이 움직일 때 다른 축도 영향을 받을 수 있는 단점이 있다. 본 논문에서는 이와 같은 단점을 극복하기 위해 와이어 구동 링크(link) 사이의 전달 특성을 수식화 하였다. 와이어구동 링크들간의 전달특성 분석 및 실험을 통해서 이들의 기대하지 않은 동작 특성을 확인하였다. 또한, 제안한 보상식을 통해서 기대하지 않은 동작을 크게 줄일 수 있음을 확인하였다.

• 한국치위생학회지
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• 제18권3호
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• pp.269-280
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• 2018

Objectives: The purpose of this study was to investigate the change in the posture of dental hygiene students and clinical dental hygienists when implementing dental scaling before and after posture correction training using the rapid upper limb assessment (RULA) method and 3D motion analysis. Methods: Thirty-two healthy volunteers performed dental scaling to remove artificial calculus on dental manikin. The movement and angle of the joints were verified by RULA and 3D motion analysis during the procedure. The subjects were also photographed for 1 minute during the procedure for 10 minutes while the calculus was removed. After the removal of the calculus, the subject and the instructor checked the video together. Posture correction training was conducted by the instructor so that the subject could perform the calculus removal operation in the correct posture. Artificial calculus of the adjacent teeth was then removed for the same period of time, and the change in posture was reviewed. Results: The total score of the posture change using RULA was $5.72{\pm}0.58$ before training and $4.31{\pm}0.10$ after training, showing a significant decrease after training (p<0.001), and upper arm, lower arm, wrist position, neck and waist position showed significant decrease after training. The three-dimensional motion analysis showed significant differences according to the criteria measured at all measurement sites except the left shoulder (p<0.05) Conclusions: It was confirmed through RULA and 3D motion analysis that postural correction training using calculus removal images was effective, and that correct postural education is essential to preventing musculoskeletal diseases caused by removal of calculus.

• 대한간호학회지
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• 제42권6호
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• pp.783-790
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• 2012

Purpose: The purpose of this study was to investigate the effects of passive upper arm exercise on range of motion, muscle strength, and muscle spasticity in hemiplegic patients with cerebral vascular disease. Methods: A quasi-experimental design with nonequivalent control group was utilized. According to inclusion criteria, 25 patients were assigned to the control group with routine care, followed by 25 to the intervention group with passive exercise for 30 minutes per session, twice a day for 2 weeks. Eighteen patients in the intervention group and 17 in the control group completed the posttest measurement, including range of motion for upper arm joints, manual muscle test, and Modified Ashworth Scale for muscle spasticity. Results: The intervention group had a significantly improved range of motion in the shoulder and wrist joints. No interaction effect was found for the elbow joint. No significant differences were found in muscle strength or muscle spasticity between the groups. Conclusion: Results of the study indicate that passive exercise safely applied for two weeks improves range of motion in joints of the upper arm in these patients. Further study with long-term follow-up is needed to verify the role of passive exercise in preventing muscle spasticity in this population.

• 한국정밀공학회지
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• 제26권7호
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• pp.134-141
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• 2009

Recently, many researchers have tried to develop wearable robots for various fields such as medical and military purposes. We have been studying robotic exoskeletons to assist the motion of persons who have problems with their muscle function in daily activities and rehabilitation. The upper-limb motions (shoulder, elbow and wrist motion) are especially important for such persons to perform daily activities. Generally for shoulder motion 300F is needed to describe its motion(extension/flexion, abduction/adduction, internal/external rotation) but we have used a redundant actuator thus making a 4 DOF system. In this paper, we proposed the mechanism design of the exoskeleton which consists of 4-DOF for shoulder and 1-DOF for elbow robotic exoskeleton to assist upper-limb motion. Then we compared the new mechanism design and prototype mechanism design. Here we also analyze the proposed system kinematically to find out and to avoid the singular point. This research will ensure that the proposed wearable robot system make human's motion more powerfully and more easily.

• 대한의용생체공학회:의공학회지
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• 제30권6호
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• pp.503-509
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• 2009

The development of technology has led to ubiquitous health care service, which enables many patients to receive medical services anytime and anywhere. For the ubiquitous health care environment, real-time measurement of biomedical signals is very important, and the medical instruments must be small and portable or wearable. So, such devices have been developed to measure biomedical signals. In this study, we develop the biomedical monitoring device which is sensing the PPG signal, one of the useful signal in the field of ubiquitous healthcare. We design a watch-like biomedical signal monitoring system without a finger probe to prevent the user's inconvenience. This system obtains the PPG from the radial artery using a sensor in the wrist band. But, new device developed in this paper is easy to get the motion artifacts. So, we proposed new algorithm removing the motion artifacts from the PPG signal. The method detects motion artifacts by changing the degree of brightness of the light source. If the brightness of the light source is reduced, the PPG pulses will disappear. When the PPG pulses have disappeared completely, the remaining signal is not the signal that results from the changing blood flow. We believe that this signal is the motion artifact and call it the noise reference signal. The motion artifacts are removed by subtracting the noise reference signal from the input signal. We apply this algorithm to the system, so we can stabilize the biomedical monitoring system we designed.

• 한국운동역학회지
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• 제12권1호
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• pp.173-191
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• 2002

The purpose of this study was defined efficient throw motion pattern to obtain the quantitative data and to achieve successful bowling through kinetic - kinematic variables on the throw motion. Subject of group composed of three groups : Higher bowlers who are two representative bowlers with 200 average points and one pro-bowler. Middle bowlers who are three common persons with 170 average points. Lower bowler who are three common persons with 150 average points. Motion analysis on throw motion in three groups respectively has been made through three-dimension cinematography using DLT method. Two high-speed video camera at operating 180 frame per secondary. One-way ANOVA has been used to define variable relations. Analyzed result and conclusion are the following : The displacement of back of the hand must have wider difference of each right-left displacement to increase the spin of the ball. In high bowlers group, difference between the front-rear position of back of the hand in case of success and that in case of failure in follow throw is 0.17m. That is to say, momentum in case of success come to increase greatly, compared with that in case of failure. To increase the spin of the ball, the potential difference should be narrower in follow through. In case of the high bowlers, the velocity of the front-rear direction of the back of the hand has been the fastest both in release and follow through, compared with those in other groups, which has contributed to increasing the spin force of the ball. The orders in the resultant velocity of the back of the hand has shown the this : the finger tip$\rightarrow$the back of the hand$\rightarrow$wrist.These orders made the proximal segment support the distal segment. The distal segment has provided the condition to accelerate the velocity. In case of failure, the suddenly increased velocity has caused the failure in the follow through. Acutely flexing the angle of the back of the hand has contributed to lifting to increase the spin of the ball.

• 한국치위생학회지
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• 제3권1호
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• pp.73-87
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• 2003

This study was performed on 17 female dental hygienists to find an appropriate method to reduce the hygienists' body discomfort while scaling, and provide a foundation to educate them how 10 posture during the process. To assess the arm abduction, elbow flexion, neck flexion, trunk flexion and trunk lateral bending through Video 2D(two dimensional motion) analysis and assessing the risk through the Action level of RULA(rapid upper limb assessment) checklist, an ergonomic analysis method. Correlation analyses on the posture angles and on body discomfort were performed. ANOVA analysis on scaling treatment position and the scaling treatment region of patients was also performed. The results are as following. 1. 20 analysis while scaling, arm abduction was $40{\sim}79.9^{\circ}$, elbow flexion $20{\sim}110^{\circ}$, neck flexion $50{\sim}100^{\circ}$, trunk flexion $60{\sim}80^{\circ}$, and trunk lateral bending $5{\sim}19.9^{\circ}$. 2. The Action level of RULA was 2. 3 resulted from scores 4 and 5 of group A which includes upper arm, lower ann, wrist, and scores 2 and 4 of group B which includes neck, trunk, legs. It means that the scaling treatment posture causes a high incidence rate of musculoskeletal that an additional investigation and improvement should be followed without hesitation. 3. There were significant differences among the maxilla right, maxilla anterior, maxilla left, mandible left, mandible anterior, and mandible right of a patient of the right and left upper arm, lower arm, neck, trunk, group A, group B, final RULA score while scaling treatment. 4. There were significant differences among the time position of 8, 9, 10, 11, 12, 13 of the right and left upper arm, lower arm, neck, trunk, group A, group B, final RULA score while scaling treatment, 5. As for the body discomfort, neck, right shoulder, left shoulder, right back, right wrist etc. were listed on top. As a conclusion, performing the time position of 12 which shows low right and left final RULA scores is better than the time position of 8 and 10 which show high final RULA scores to reduce the body discomfort while scaling treatment.

• 한국정보통신학회논문지
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• 제14권3호
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• pp.723-728
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• 2010

본 연구는 국내의 간호 인력 부족으로 인하여 발생되는 간호 업무 부하를 감소시키기 위해 PPG 신호를 이용한 휴대형 심박수 측정 장치의 설계 방법과 환자의 움직임인 동잡음에서도 신뢰성이 높은 심박수 측정 알고리즘을 제안하였다. 제안된 심박수 측정방법은 생체 신호의 하모닉 특성을 기반한 적응필터로 동잡음을 제거하고 심박수를 측정하는 방법이다. 제안된 기법으로 구현된 심박수 측정기의 성능을 평가하기 위해 손가락 떨림, 손목 움직임 등의 동잡음을 발생시켜 실험하고, 일반적인 방법인 이동평균 필터의 성능과 비교 평가 하였다. 이 실험 결과에서 제안된 기법의 성능이 이동평균 필터의 성능보다 우수한 성능을 보였다. 따라서 본 연구에서 제안한 휴대형 심박수 측정기를 간호업무에 도입한다면, 간호 업무 개선과 보다 선뢰성이 높은 심박수 측정이 가능할 것으로 사료된다.

• 한국운동역학회지
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• 제20권1호
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• pp.25-32
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• 2010

This study was performed to investigate the kinematic factors on the head hitting motion based on weight change of bamboo swords in kumdo. The kinematic factors, needed time per phase, COB displacement and velocity, angle(wrist, elbow, shoulder joint, hip joint, knee joint), were analyzed by the 3-D motion analysis method against 6 male middle school athletes. The results were as follows. 1. The needed time of head hitting motion based on weight change of bamboo swords was shorter when weight was heavier. 2. The COB displacement of left/right was bigger when weight was heavier. the displacement of right foot was higher at backswing phase and impact phase when weight was heavier and at impact time when weight was lighter. 3. The COB velocity was faster at impact time when weight was heavier, the velocity of sword tip was fastest for each event with bamboo sword weight of 440 g. 4. The angle of left elbow was smaller at top of backswing and impact when weight was heavier, the angle of left shoulder was bigger when weight was heavier, the right knee angle was biger at start when weight was heavier, at impact when weight was lighter.

• 한국게임학회 논문지
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• 제10권5호
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• pp.65-73
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• 2010

본 논문에서는 생체 신호를 이용하는 체감형 게임 인터페이스 개발을 위하여 근전도 신호로부터 사용자의 동작 의도를 실시간으로 인식할 수 있는 장치를 개발하여 방향성을 필요로 하는 게임에 적용하였다. 근전도 신호를 획득하기 위한 장치는 4 채널로 이루어지며, 정의되는 손목동작으로는 Up, Right, Down, Left로 규정하였다. 각각의 동작으로부터 획득한 신호를 문턱치와 채널 간의 비교를 통하여 사용자의 의도를 인식하게 하였다. 방향성 분류 결과를 통하여 키보드의 방향키를 제어하고, 게임에 적용하게 된다. 개발된 장치는 재미와 흥미를 유도하여 효과적인 운동을 기대할 수 있으며, 상용화된 게임에도 적용할 수 있다.