• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2438-2440
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• 2004

This study is concerned with development of 3-Dimensional simulator of a biped robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a biped robot which have a prismatic balancing weight is conditional linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. To get a stable gait of a biped robot, stabilization equations with ZMP (Zero Moment Point) are modeled as non-homogeneous second order differential equations for each balancing weight type. A trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3-Dimensional graphic simulator is programmed to get and calculate the desired ZMP and the actual ZMP. Walking of 4 steps was simulated and verified. This balancing system will be applied to a biped humanoid robot, which consist Begs and upper body, at future work.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.574-577
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• 2001

This paper presents the comparison of FRI(Foot Rotation Indicator) point and ZMP(Zero Moment Point) in biped robot stability. We showed FRI may be employed as a useful tool in stability analysis in biped robot. Also, we proposed the balancing joint trajectory derived from FRI point equation for stable gait. The numerical calculation routines and walking algorithms for simulation are performed by MATLAB. The procedure is composed of the leg trajectory planning, the generation of balancing trajectory, and the verification of dynamic stability.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.333-344
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• 2014

This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots' walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.

• The Journal of Korean Physical Therapy
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• v.16 no.2
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• pp.17-21
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• 2004

We need to study about lower extremity alignment because the structure dictates the function of lower extremity. Through lower extremity alignment assessment in static posture, we recognize abnormal structural conditions which could affect dynamic motion such as gait. To evaluate of lower extremity alignment provide so many useful information, but method of measurement is so limited. Therefore, this review will assist understanding for measurement of lower extremity alignment in static posture. From now on study about the objective measurement method must be achieved much more in physical therapy.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.237-254
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• 2005

The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system. In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced. In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are reviewed and discussed. Finally, switching system which changes its phase between closed and open loop motion is investigated with the principle of dynamical balance. Among switching systems, the human gait in biomechanics and humanoid in robotics are presented.

• The Journal of Korean Physical Therapy
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• v.15 no.1
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• pp.1-8
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• 2003

We need to study about lower extremity alignment because the structure dictates the function of lower extremity. Through lower extremity alignment assessment in static posture, we recognize abnormal structural conditions which could affect dynamic motion such as gait. To evaluate of lower extremity alignment provide so many useful information, but method of measurement is so limited. Therefore, this review will assist understanding for measurement of lower extremity alignment in static posture. From now on study about the objective measurement method must be achieved much more in physical therapy.

• Journal of Veterinary Science
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• v.21 no.4
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• pp.62.1-62.7
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• 2020

A 5-month old Shih Tzu was diagnosed with congenital elbow luxation and uniapical complex angular deformity of the radius. Single radial oblique and dynamic ulnar osteotomies were performed, using patient-specific 3D-printed osteotomy guide. External skeletal fixation was maintained for three weeks to prevent re-luxation of elbow joint. Three months after the surgery, objective gait analysis indicated markedly improved limb function. In addition, radiograph showed improved congruity of elbow joint and appropriate bone healing. In dogs with congenital radial head luxation and concurrent complex angular deformity, a single oblique osteotomy might be a viable option to preserve bone length and correct the luxation of elbow joint.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.481-486
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• 2023

The purpose of this study is to optimize parameters of a contact model to obtain similar ground contact force of human walking. Dynamic walking simulation considering ground contact is performed to determine load specifications when developing walking assist robots. Large contact forces that are not observed in actual experimental data occur during the simulation at the initial contact (e.g., heel contact). The large contact force generates unrealistic large joint torques. A lower exoskeleton robot with no ankles is developed with the Matlab simscape and the nonlinear hyper volumetric contact model is applied. Parameters of the nonlinear hyper volumetric model were optimized using actual walking contact force data. As a result of optimization, it was possible to obtain a contact force pattern similar to actual walking by removing the large contact force generated during initial contact.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.77-84
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• 2015

Objective : The purpose of this study was to analyze the effects of lower limb muscle activity on postural stability and ground type in elderly women subjects. Method : Forty two subjects participated in the experiment (high group - age: $74.29{\pm}4.13yr$, height: $152.44{\pm}5.54cm$, weight: $57.43{\pm}6.16kg$, BMI: $24.77{\pm}2.99$, low group - age: $77.67{\pm}5.16yr$, height: $151.40{\pm}3.93cm$, weight: $60.92{\pm}6.40kg$, BMI: $26.59{\pm}2.57$). Wireless EMG with eight channels was used. Ground types were classified as flat and cushion. Results : In the double-support phase, left and right rectus femoris, left biceps femoris, left and right tibialis anterior, and left gastrocnemius did not show a significant difference in postural stability according to ground type. However right biceps femoris and gastrocnemius showed higher muscle activity in the elderly women group with lower postural stability. In the single-support phase, left and right rectus femoris, right biceps femoris, and left and right tibialis anterior did not show a significant difference in postural stability according to ground type. In addition, left biceps femoris had higher muscle activity in the elderly women group with lower postural stability. Left gastrocnemius had higher muscle activity in the elderly women group with higher postural stability and right gastrocnemius had higher muscle activity in the elderly women group on cushion ground. Conclusion : In a dynamic postural stability and cushion ground, biceps femoris and gastrocnemius muscle activity were high. As a result, biceps femoris and gastrocnemius muscle strengthening exercise on cushion ground could be beneficial in the prevention of falling.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.7
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• pp.769-776
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• 2013

The dynamic compliance characteristics of a prosthetic foot midgait are very important for natural performance in an amputee's gait and should be in a range that provides natural, stable walking. In this study, finite element analysis (FEA) and classical laminate theory were used to examine the mechanical characteristics of a carbon-epoxy composite laminate prosthetic foot as a function of variation in the lamination composition. From this analysis, an FEM model of a prosthetic keel, made from the composite material, was developed. The lamination composition of the keel was designed for improved stiffness. The prototype product was fabricated using an autoclave. Vertical loading response tests were performed to verify the simulation model. The results of the experiments were similar to those from simulations below the loading level of the gait, suggesting use of the proposed simulation model for prosthetic keel design.