• 대한전기학회논문지
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• 제43권3호
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• pp.485-492
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• 1994

Trajectory tracking control porblems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제41권
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• pp.20.1-20.7
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• 2019

Background: The purpose of this study was to evaluate the effects of botulinum toxin A (BTX) injection into the anterior belly of the digastric muscle on a growing rat. Methods: Ten Sprague Dawley rats were used in this study. When the rats were 13 days old, 0.5 units of BTX was injected into the anterior belly of the digastric muscle for the experimental group (n = 5). For the control, the same volume of normal saline was injected (n = 5). The rats were sacrificed at 60 days old, and the skulls were harvested for micro-computed tomography (μCT) analysis. Results: In anthropometric analysis, the zygomatic arch and mandibular bi-condylar width were significantly lower in the experimental group than those in the control group (P = 0.025 and 0.027, respectively). The maxillary point width was significantly higher in the experimental group than that in the control group (P = 0.020). Conclusion: BTX injection into the anterior belly of the digastric muscle had effects on the maxillofacial bony width in growing rats.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.642-646
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• 1992

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.

• 한국콘텐츠학회논문지
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• 제18권1호
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• pp.173-184
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• 2018

보행 과정에서 여러 근육이 동시에 수축하는 운동 모듈 또는 근육 시너지는 매우 중요한 중추신경계 운동조절 메커니즘이다. 본 연구는 걷는 동안 근육 간 양성 및 음성 공변 패턴을 이해하는 것을 목표로 한다. 본 연구에서는 트레드밀 보행 시 발생하는 다리 근육 활성을 근전도 검사를 통해 측정하였다. 동시 수축근육 그룹, 즉 운동 모듈을 확인하기 위해 우리는 양쪽 4 개의 다리 근육(전경골근, 내측 비복근, 대퇴직근, 내측 슬괵근)에서 근전도 데이터를 수집하였고, 이를 바탕으로 비음수행렬분해 및 주성분 분석을 수행하였다. 이후 근육 또는 운동 모듈 간의 다양한 조합으로부터 공변이 값을 계산하였고, 이원배치분산분석을 이용하여 각 조합들에서 발생하는 공변이 패턴을 비교하였다. 그 결과, 다양한 조합 사이에 유의미한 공변이 값의 차이가 발견되었다(p < 0.05). 같은 운동 모듈로 정의된 특정 근육 사이에서 발생하는 근 활성은 양성공변이를 보여주었으나 운동 모듈 사이에서는 음성 공변이를 보여주었다. 모든 근육 조합들 사이에서는 음성 공변이가 발생하였다. 운동 모듈 사이에서 안정적으로 발생하는 음성 공변이는 운동 모듈이 복잡한 운동 조정의 제어 단위(control unit) 일 수 있음을 암시하고 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.752-757
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• 1991

Recently, human body modeling with muscle deformation has become an attractive research area in computer animation. There are many modeling tools available for solids such as mechanical part. However, there are many limitations of these conventional methods in modeling flexible objects with delicate motions and shapes such as human bodies. In this paper we present a new modeling technique for human body with muscle deformation. Each muscle is represented as a generalized cylinder and its shape deformation is computed using simple algorithm. The human body is a union of muscles, bones, organs, etc. The modeling data are obtained from the information on the human anatomy. To demonstrate the feasibility of our method, we model several arm muscles and simulate the skin deformation. As a result we have obtained a realistic shape deformation.

• 전기학회논문지
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• 제66권5호
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• pp.843-850
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• 2017

The EMG amplitude estimator, which has been investigated as an indicator of muscle force, is utilized as the control input to artificial prosthetic limbs. This paper describes an application of the optimal EMG amplitude estimator to the surface EMG signals recorded during constant isometric %MVC (maximum voluntary contraction) for 30 seconds and reports on assessing performance of the amplitude estimator from the application. Surface EMG signals, a total of 198 signals, were recorded from biceps brachii muscle over the range of 20-80%MVC isometric contraction. To examine the estimator performance, a SNR(signal-to-noise ratio) was computed from each amplitude estimate. The results of the study indicate that ARV(average rectified value) and RMS(root mean square) amplitude estimation with forth order whitening filter and 250[ms] moving average window length are optimal and showed the mean SNR improvement of about 50%, 40% and 20% for each 20%MVC, 50%MVC and 80%MVC surface EMG signals, respectively.

• 한국CDE학회논문집
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• 제17권6호
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• pp.443-455
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• 2012

The configuration of a musculoskeletal (MS) system is closely related to the individual motions of the human body. Many researches have been focused on evaluating the associations between the MS configuration and the individual motion using patient-specific MS models, but it still remains a challenging issue to accurately predict the motion by differed configurations of the MS system. The main objective of this paper is to predict the changes of a patient-specific gait by altering the geometric parameters of the hip joint using function-based morphing method (FBM). FBM is suitable for motion analysis since this method provide a robust way to morph a MS model while preserving the biomechanical functions of the bones. Computed-muscle control technique is used to calculate the muscle excitations to reproduce the targeted motion within a digital MS model without the motion-captured data. We applied this approach to a patient who has an abnormal gait pattern. Results showed that the femoral neck length and the angle significantly affect to the motion especially for the hip abduction angle during gait, and that this approach is suitable for gait prediction.

• Journal of Trauma and Injury
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• 제22권1호
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• pp.44-50
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• 2009

Purpose: The purpose of this study was to evaluate the causes of blow-out fractures, the computed tomography findings, and the associated facial bone fractures in aged patients. Methods: This study was performed by conducting a chart review. From January 2004 to December 2007, the patients who visited the emergency room of Asan Medical Center and were diagnosed as having a blow-out fracture were included in the study population. Patients 60 years of age or older were grouped as the aged group while patients younger than 60 years of age were grouped as the control group. Results: Between the aged group and the control group, there was a difference in the causes of blow-out fractures. The most common cause of blow-out fracture was a slip down in the aged group and violence in the control group (p<0.05). There were no differences in associated symptoms. Extraocular muscle herniation was the only statistically different computed tomography findings. In associated facial bone fractures, the most common fractures were the zygoma in the aged group and the nasal bone in the control group (p<0.05). Conclusion: In patients 60 years of age or older, the most common cause of blow-out fracture was a slip down, and the most common associated facial bone fracture was a zygomatic fracture.

• 한국잠사곤충학회지
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• 제51권2호
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• pp.123-129
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• 2013

The purpose of this study is to investigate the effects of supplementation of mulberry powder, mulberry extract and silkworm powder during the 8 weeks of resistance exercise on muscle increase of rats. Fifty males, Sprague-Dawley rat, were randomly divided into 5 groups: CON(control group, n = 10), REG(resistance exercise group, n = 10), MP REG(mulberry powder intake and resistance exercise group, n = 10), ME REG(mulberry extract intake and resistance exercise group, n = 10) and SP REG(silkworm powder intake and resistance exercise group, n = 10). After climbing the ladder without weights during the 1 week of adaptation period, the rats in the resistance exercise group were trained to climb a 0.98-m vertical(80 degree incline) ladder with weights in their tail during 7 weeks(10 times each day, 2 days per week). After exercise, the skeletal muscle was extracted from the flexor hallucis longus. The absolute weight of skeletal muscle was measured by the electronic balance and the relative weight of skeletal muscle about the weight was calculated. The strength and density of legs muscle were analyzed by the computed tomography scan. After 8 weeks of resistance exercise, the absolute weight of skeletal muscle wasn't significant, but it increased in MP REG 8%, ME REG 8% and SP REG 10% compared to REG. The relative weight of skeletal muscle increased significantly in SP REG compared to REG (p < 0.05). Additionally, there was a significant increase of density and strength of the forelegs in SP REG compared to CON (p < 0.05). However, there was no significant increase of density and strength of the hind legs. In conclusion, regular resistance exercise made rats muscle increase and there was more muscle increase effected by providing silkworm.

• 전기학회논문지
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• 제67권1호
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• pp.124-130
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• 2018

The EMG amplitude estimator, which has been investigated as an indicator of muscle force, is of high relevance not only in biomechanical studies but also more and more in clinical applications. This paper presents a new approach to estimate surface EMG amplitude by using the mean spike and mean turn amplitude(MSA and MTA) variables. Surface EMG signals, a total of 198 signals, were recorded from biceps brachii muscle over the range of 20-80%MVC isometric contraction and performance of the MSA and MTA variables applied to amplitude estimation of the EMG signals were investigated. To examine the performance, a SNR(signal-to-noise ratio) was computed from each amplitude estimate. The results of the study indicate that MSA and MTA amplitude estimations with first order whitening filter and 300[ms]-350[ms] moving average window length are optimal and show better performance(mean SNR improvement of 6%-15%) than the most frequently used variables(ARV and RMS).