• The Journal of the Korea Contents Association
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• v.20 no.6
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• pp.99-113
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• 2020

In the future, robots and drones for the convenience of our lives in everyday life will increase. As a method for controlling this, a remote control or a human voice method is most commonly used. However, the remote control needs to be operated by a person and can not ignore ambient noise in the case of voice. In this paper, we propose an economical attitude information acquisition method to accurately acquire the posture information of the arm in real time under the assumption that the surround drones or robots can be controlled wirelessly with the posture information of the arm. For this purpose, the extended Kalman filter was used to eliminate the noise of the arm position information. in order to detect the arm movement, a low cost MEMS type sensor was applied to secure the economical efficiency of the apparatus. To increase the wear ability of the arm, We developed a compact and lightweight attitude information acquisition system by integrating all functions into one chip as much as possible. As a result, the real-time performance of 1 ms was secured and the extended Kalman filter was applied to acquire the accurate attitude information of the arm with noise removed and display the attitude information of the arm in real time. This provides a basis for generating commands using real-time attitude information of the arm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.1229-1237
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• 2012

This study aimed to investigate the effect of hand grip force on the activity of shoulder muscles in 2 arm postures. The muscle activity of the upper trapezius, lower trapezius, infraspinatus, anterior deltoid, and posterior deltoid muscles in 22 healthy subjects (11 men and 11 women) were measured using surface electrodes during 4 hand gripping tasks (0%, 30%, 50%, and 70% of maximum voluntary contraction) in 2 shoulder positions (neutral position and $90^{\circ}$ elevation position). Among changing grip force significantly differenced infraspinatus, anterior deltoid, and posterior deltoid muscles' activity in the shoulder neutral position(p<0.05). In the shoulder $90^{\circ}$ elevation position, anterior deltoid, posterior deltoid muscles' activity was significantly differenced(p<0.05). Hand gripping was found to alter muscle activation. The hand grip task activated the infraspinatus muscle in the neutral position and inhibited the deltoid muscle in the $90^{\circ}$ elevation position. This finding may prove useful for the development preventative measures and rehabilitation strategies for shoulder injuries.

• The Korean Journal of Nuclear Medicine Technology
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• v.16 no.1
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• pp.91-95
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• 2012

Purpose: In this study, we evaluated the ejection fraction (EF) according to the difference of patient position in Gated Blood Pool (GBP) scan. Material and Methods: The analysis was performed to 80 patients ($51.2{\pm}17.4$ years old) who examined GBP scan in Department of nuclear medicine, National Cancer Center from March 2011 to August 2011. We divided the patients into two groups; one group received conventional position (raise left arm up supine) and supine position (group 1) and the other group received conventional position and left arm back down supine position (group 2). To observe the change EF according to patient position difference, the image was reconstructed and analyzed by Xeleris (GE, USA). We measured body mass index (BMI) of patients. Result: In group 1, EF error less than 3% occurred at a rate of 72.5% (29 of the 40 patients). In group 2, EF error less than 3% occurred at a rate of 79% (32 of the 40 patients). The patient's BMI did not affect ejection fraction. Conclusion: The EF error of left arm back down supine position closer to conventional position than in supine position shows the results.

• Proceedings of the Korean Institute of Industrial Safety Conference
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• 2002.11a
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• pp.371-376
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• 2002

자동화된 생산시설에도 불구하고, 아직도 여러 현장에는 사람이 직접 bag, box, carton 등을 들고, 내리고, 옮기는 등의 인력운반 (Manual Materials Handling, MMH) 작업으로 생산활동이 이루어지고 있다. 상자 운반 작업에서 있어서 손잡이는 최대허용무게에 영향을 미친다는 연구 결과들이 많이 나왔지만, 자세에 따른 손잡이 형태의 영향에 관한 연구들은 미흡한 실정이다. 따라서 본 연구에서는 MMH 작업시 흔히 사용되는 3가지 자세(구부린 자세, 팔을 편 자세, 팔을 90$^{\circ}$로 굽혔을 때 자세)에서 손잡이 형태에 따라 tote box를 들 때, 작업자세와 손잡이 형태에 따른 Maximum Voluntary Contraction (이하 MVC)를 측정하고 MVC에 대한 작업자세와 손잡이 형태의 상관관계의 통계적 분석, 주관적 평가방법(Borg법)과 MVC와의 유의성을 검증하였다.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.1-6
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• 2020

This study is about the safe arm posture in case of emergency escape using the vertical dive rescue sack at the fire site. The experimental results are as follows. First, the arms extended upward contact with the endothelium and narrowing part of the rescue sack minimized the scratches did not occur. Second, the bent position with both arms open was subject to light abrasions of on the elbows due to friction between the elbows and the scapula and the endothelium. Third, in the posture where both arms were gathered in the chest, the body passed through the narrowing part and friction between the bag's narrowing part, All subjects had light abrasions on their elbows. Fourth, because the arms are lowered, the legs are extended to the width of the shoulders when descending, so that the back of the hand has friction with the narrowing part of the bag and the endothelial skin. Finally, posture with both arms below the front increased the volume of the front of the body, resulting in a slight back injury. As a future research task, it is necessary to study the proper posture of legs and the posture of landing on the ground.

• The Journal of Korean Society for Radiation Therapy
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• v.14 no.1
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• pp.85-88
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• 2002

I. 목적 : arm-up holder는 흉부 및 복부 질환 치료의 환자고정에 유용하게 사용하고 있으나 손잡이 부분과 어깨가 닿는 부분까지 거리 때문에 동일한 자세를 유지하는데 불편함이 있다. 특히 긴장을 많이 하거나 기력이 없는 환자는 방사선 치료 시 자세의 불안정으로 인하여 치료의 정확성이 떨어질 수 있다. 이에 본원에서는 현재 사용하고 있는 arm-up holder에 팔의 지지를 위한 보조기구를 제작하여 유용성을 평가하였다. II. 대상 및 방법 : 기존의 arm-up holder에 어깨받침대를 부착하여 개선된 arm-up holder를 제작하였다. 실험을 위하여 기존의 arm-up holder를 사용하는 환자그룹과 개선된 arm-up holder를 사용하는 그룹으로 구분하여 자세 변화를 평가하였다. 두 그룹의 환자를 대상으로 모의 치료를 실시한 후 치료실에서 L-gram 을 2회 씩 촬영하여 치료하고자 하는 portal film과 isocenter의 변화를 측정했다. 각 그룹 당 10명씩의 환자를 선정하여 반복 조사하였다. III. 결과 : 개선된 arm-up holder를 사용한 그룹의 isocenter 의 변화는 최대 2mm, 최소 0.5mm 평균 1.2mm 이다. 기존의 arm-up folder를 사용한 그룹과 비교하여 평균변화는 약 2배로 나라났고, 최대 변화는 2.5배의 오차범위가 측정되었다. IV. 결론 : 현재 사용하고 있는 arm-up holder는 흉부 및 복부의 사방향 방사선 치료 시 팔에 의한 방사선 감약을 예방할 수 있는 유용한 고정용구이다. 하지만 팔을 올리고 있는 자세는 환자에게 불편함을 야기 시키며 이로 인한 치료의 정확성을 감소시킬 수 있다. 따라서, 기존의 arm-up holder에 보조기구를 제작하여 사용함으로써 환자의 불편함을 개선하고, set-up 의 안정성과 재현성을 향상시킬 수 있었다.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• Journal of the Korea Computer Graphics Society
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• v.21 no.4
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• pp.19-26
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• 2015

This paper presents a method for optimizing a carrying pose of human body for a given object. The inputs are articulated human body model and and arbitrary-shaped object. We assume that the object is big and heavy, so that both arms should be used to carry it. Unlike small and light objects, big and heaby objects can be hold by only a small range of body poses while keeping a physical statbility. We first introduce an algorithm that evaluates a physical stability of a given human body pose and object state (position and orientation). Then, we define a configuration space and search the space for the most stable carrying pose by using the evaluation algorithm. Finally, to demonstrate the usability of our method, we present the results which each is experimented with different shaped objects and additional user conditions.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.4 s.304
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• pp.11-18
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• 2005

For expressing intention the human often use body languages as well as vocal languages. Of course the gestures using arms and hands are the representative ones among the body languages. Therefore it is very important to understand the human arm motion in human-computer interaction. In this respect we present here how to estimate 3D pose of human arms by using computer vision systems. For this we first focus on the idea that the human arm motion consists of mostly revolute joint motions, and then we present an algorithm for understanding 3D motion of a revolute joint using vision systems. Next we apply it to estimating 3D pose of human arms using vision systems. The fundamental idea for this algorithm extension is that we may apply the algorithm for a revolute joint to each of the revolute joints of hmm arms one after another. In designing the algorithms we focus on seeking closed-form solutions with high accuracy because we aim at applying them to human computer interaction for ubiquitous computing and virtual reality.

• Proceedings of the ESK Conference
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• 1997.10a
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• pp.23-30
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• 1997

근골격계 질환은 부적절한 작업 자세, 중량물의 무리한 취급, 과도한 작업 부하 등과 같은 작업 환경 에서 기인한다. 현장의 대부분의 공구사용작업에 있어서, 쪼그려앉아서 작업하는 경우가 매우 빈번하게 발생한다. 본 연구에서는 쪼그려 앉은자세에서 사용하는 공구를 설계하는데 필요 요소인 악력의 최대치 를 조사하는 것을 목적으로 한다. 23세-29세의 남자 8명을 피실험자로 실험하였다. 실험모델로는 쪼그려 앉기에서 1) 0 .deg. 외전된 어깨와 정위치의 손목에서 어깨 굴곡이 180 .deg. , 135 .deg., 90 .deg. 와 45 .deg. 의 조합된 자세에서의 악력, 2) 0 .deg. 외전된 어깨와 정위치의 손목에서 팔꿈치 굴곡이 135 .deg. , 90 .deg. 와 45 .deg. 조합된 자세에서의 악력을 조사하였다. 조사결과 쪼그려 앉은 자세에서 어깨굴곡이 45 .deg. 인 자세에서 최대의 악력이 발휘되는 것으로 나타났으며, 인체부위 중에서 손너비, 손목둘레, 팔길이, 손두께, 팔꿈치-손목까지의 길이 등이 쪼그려 앉은자세와 깊은 상관관계가 있는 것으로 나타났다.