• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.10a
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• pp.171-171
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1603-1604
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• 2011

• Journal of the Korean Society of Industry Convergence
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• v.20 no.1
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• Physical Therapy Korea
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• v.19 no.2
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• pp.59-68
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• 2012

This meta-analysis investigated the effects on arm motor impairment, arm motor function and disability, and psychological aspects of constraint-induced movement therapy (CIMT) for upper extremity hemiparesis following stroke, based on Korean studies. A comprehensive search of the complete Korean studies information service system (KISS), Research Information Sharing Service (RISS), Korea National Library, and the Korean Medical Database to September 2011 was conducted. Eleven eligible controlled clinical trials compared CIMT to a control group or an alternative treatment. All outcome measures of arm motor impairment, arm motor function and disability, and psychological aspects were pooled for calculating effect size. The overall effect size of CIMT was .700 (95% confidence interval=.482~.918). The CIMT programs showed large effect on the aspect of arm motor function and disability (the effect size is .920) and the psychological aspect (the effect size is .946). The effect of CIMT on arm motor impairment was moderate (the effect size is .588). These results show that CIMT may improve upper extremity motor impairment, function and disability, and psychological aspects following stroke. However, these results were based on a small number of studies, and not all of them were randomized control trials. Additional research is needed to include larger well-designed trials to resolve these uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1105-1110
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• 2013

In this paper, a robot arm capable of recognizing and drawing various line thicknesses is developed. Conventional line drawing robots are not capable of adjusting the thickness of lines. However, to draw faster and to enrich the expression of line drawing robots, it is necessary to adjust line thickness using a brush pen. Simple images are acquired and various line thicknesses are recognized by image processing. Trajectories of lines are generated with distance sorting using thinning and corner point detections for each label. Information on line thickness and trajectory is sent to the controller of a robot arm taking into consideration 2D inverse kinematics. Through this process, the robot arm can draw various lines thicknesses along 2D trajectories with 3 motors. Robot arm for detailed drawing will be studied in the future.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.3
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• pp.1849-1855
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• 2019

Background: Stroke patients require arm movement exercising for various stimulations in standing position for various stimulations rather than in a sitting position because they require integrated skillful movements, such as stretching, holding, and controlling. Objective: This study was conducted to provide foundational clinical data about lower limb global synkinesis in stroke patients using arm movements in a standing position. Design: Randomized controlled trial. Methods: The subjects were divided into a control group (n = 10) and an experimental group (n = 10), and a pre-test was conducted to evaluate leg global synkinesis (GS) and balance. Intervention method is stretching an arm to hold a ball, repeating supination and pronation of the hand only while maintaining the arm extended as much as possible, repeating shoulder abduction and adduction while holding the pegboard. This was followed by a three-week intervention during which re-measurement was conducted in the same way as was done for the pre-test. Results: The control group showed a significant difference in GS and balance during plantar flexion (p<.05), and the experimental group showed a significant difference in GS and balance during all movements (p<.05, p<.01, respectively). There was a significant difference in GS and balance between the two groups during dorsiflexion (p<.05, p<.01, respectively). Conclusion: The findings demonstrate that human arm movements in a standing position can reduce GS in the affected limb, and balance can be improved by stimulating the surrounding tissues of the affected limb and changing them positively.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.136-146
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• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.230-233
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• 1993

This paper described a relationship between motion speed and working accuracy of industrial articulated robot arms. Working accuracy of the robot arm deteriorates at high speed operation caused by a nonlinear transformation of the kinematics and the time delay of the robot arm dynamic. The deterioration of the following trajectory was expressed as a linear function of the squares of the robot arm motion speed, depending upon a posture of the robot arm and division interval of the objective trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.400-403
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• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• Proceedings of the Korean Information Science Society Conference
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• 2000.04a
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• pp.457-459
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• 2000

최근 이동단말기나 PDA, 스마트폰과 같은 정보기기나 디지털 가전기기의 사용이 증대됨에 따라, ARM코어 시스템을 기반으로 하는 프로세서와 이를 운영하기 위한 소프트웨어 수요도 증가하고 있다. 본 논문은 프로세서를 운영하기 위한 소프트웨어 중에서 예외처리를 위한 일반적인 인터럽트 제어를 다룬다. ARM 시스템 상에서 임의의 주변 장치(타이머/카운터)에 의해 발생하는 인터럽트 처리 과정과 예외처리를 제어하기 위한 벡터 테이블을 구성하는 방법에 대해 분석한다. 그리고 인터럽트를 처리하는 인터럽트 코드부분과 벡터 테이블내의 인터럽트의 상호 연관성에 대해 논의한다.