• 로봇학회논문지
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• 제16권2호
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• 대한족부족관절학회지
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• 제3권1호
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• pp.19-25
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• 1999

The purpose of this study Is to assess the retained range of motion[RROM] of the foot after arthrodesis of the ankle joint, which might help designing the angle of arthrodesis. We reviewed the results including the RROM in 14 cases of ankle arthrodesis. Underlying causes included trauma group(six posttraumatic arthritis) and disease group(three osteoarthritis, three Charcot joints, one chronic synovitis and one pyogenic arthritis). We measured the RROM on the lateral roentgenograms of the ankle in full dorsiflexion and plantarflexion, The results were assessed by the AOFAS hindfoot scale[score]. The RROM in sagittal plane was $23.4{\pm}5.3$ degrees and the score was 71.5 points on average. The RROM and the score were $26.8^{\circ}{\pm}2.1$, 81.2 points respectively in trauma group and $20.8^{\circ}{\pm}5.6$, 64.3 points in disease group; $26.6^{\circ}{\pm}2.3$, 83.4 points in cases younger than 40 years of age and $21.6^{\circ}{\pm}5.7$, 64.9 points in the older. The mean score was 77.3 points in cases whose RROM were $24^{\circ}$ or more and 61 points in cases of less RROM; 69.6 and 73.4 points in cases with and without adjacent degenerative arthritis respectively. The score was 69.7, 73.3 and 71.5 points in cases whose angle of arthrodesis was in dorsiflexion, neutral, plantarflexion respectively. In conclusion, after ankle arthrodesis RROM of the foot was $23.4^{\circ}$, and the more the RROM, the higher the score. In cases with sufficient amount of RROM, the angle of fusion on sagittal plane might not influence the result significantly.

• 한국운동역학회지
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• 제34권2호
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• pp.45-52
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• 2024

Objective: The purpose of this study was to measure the morphological characteristics of the foot and biomechanical variables of the lower extremity joints during vertical jump and investigate the relationship between foot morphology and biomechanics of vertical jump. Method: 24 men in their 20s (age: 22.42 ± 1.41 yrs, height: 173.37 ± 4.61 cm, weight: 72.02 ± 6.21 kg, foot length: 251.70 ± 8.68 mm) participated in the study. Morphological characteristics of the foot included the length of the first toe, the length of the second toe, and the horizontal length from the center of ankle joint to the achilles tendon (Plantar Flexion Moment Arm [PFMA]). Biomechanical variables were measured for plantar flexor strength of the ankle joint and peak angular velocity, moment, and power of the lower extremity joint during vertical jump. Results: There was a significant correlation between the length of the first toe and plantar flexion strength at 30°/s [r=.440, p=.016], the angular velocity of the metatarsophalangeal [MTP] joint [r=-.369, p=.038] while significant correlations between PFMA and the angular velocities of the knee joint [r=.369, p=.038] and ankle joint [r=.420, p=.021] were found. There were also significant correlations between the length of the first toe and the maximum moment of the hip joint [r=.379, p=.034], and the length of the second toe and the power of the hip joint [r=-.391, p=.029]. Finally, significant correlations between PFMA and the power of the ankle joint [r=.424, p=.019] and MTP joint [r=.367, p=.039] were found. Conclusion: Based on the results of this study, the length of the toe and PFMA would be related to the function of the lower extremity joint. Therefore, this should be considered when designing the functional structure of a shoe. Furthermore, this relationship can be applied to intensive training for the plantar flexors and toe flexors to improve power in athletic performance.

• 혜화의학회지
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• 제13권2호
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• pp.277-287
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• 2004

I have come to next conclusions in consequence of documentary study about medical books of many generations regarding venesection therapy. 1. Venesection therapy is much used for five sensory organ disease. Besides that internal disease, pain paralysis disease of muscle and joints, sugical disease, disease of woman and children, fever sunstroke CVA emergency case follow that in the order of frequency of use. 2. It is used for swollen tongue, eye pain, pharyngitis, swelling and pain in the throat, bleeding from the eye ear nose mouth or subcutaneous tissue, tonsillitis, aphthae and so on in the five sensory organ disease. Focus, sosang, jinjin yuye, taiyang, baihui are used for five sensory organ disease in the order of frequency of use. 3. It is used for malaria, headache, precordial pain, head-wind, abdominal colic, diseases characterized by acute diarrhea and vomiting, and so on in the Internal disease. Superficial venules and lymph vessesls, taiyang, quze are used for Internal disease in the order of frequency of use. 4. It is used for low back pain, hypochondriac pain, numbness, knee pain, tinea pedis, red swelling pain of hand and arm, flaccidity-syndrome, and so on in the pain paralysis disease of muscle and joints. Weizhong, superficial venules and lymph vessesls, Ashi point, zhigou are used for pain paralysis disease of muscle and joints in the order of frequency of use. 5. It is used for furuncle, tinea capitis, and so on in the sugical disease. Focus, weizhong are used for sugical disease in the order of frequency of use. 6. It is used for inflammatory disease with redness of skin, and so on in the disease of woman and children. Focus, weizhong, yanglingquan, yaoshu, sanyinjiao are used for disease of woman and children in the order of frequency of use. 7. It is used for fever, CVA, sunstroke, cadaverous coma, common cold, and so on in the fever sunstroke CVA emergency case. Sosang, weizhong, chize are used for fever sunstroke CVA emergency case in the order of frequency of use. 8. The urinary bladder channel of foot-taiyang is most used. Next there are the du channel, the stomach channel of foot-yangming, the lung channel of hand-taiyin, the gall baldder channel of foot-shaoyang, the triple-warmer channel of hand-shaoyang, the large intestine channel of hand-yangming, the spleen channel of foot-taiyin, the kidney channel of foot-shaoyin the pericardium channel of hand-jueyin the liver channel of foot-jueyin, the ren channel, the heart channel of hand-shaoyin, the small intestine channel of hand-taiyang in the order of frequency in use. 9. Superficial venules and lymph vessesls, focus, five shu points, extra-point, back point are used in the venesection therapy, those are characteristic of locating an acupuncture point.

• 한국전문물리치료학회지
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• 제23권1호
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• pp.72-79
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• 2016

Background: Increased foot pronation causes biomedchanical changes at the lower limbs, which may result in musculoskeletal injuries at the proximal joints. Pronation rear-foot leads to plantar fasciitis, Achilles tendonitis, and posterior tibial tendonitis pathologically. According to the recent meta-analysis, They showed that therapeutic adhesive taping is more effective than foot orthoses and motion control footwear, low-Dye (LD) taping has become the most popular method used by physiotherapists. Objects: The purpose of this study was to determine the immediate effects of LD taping results in different ankle motion and ground reaction force (GRF) as before and after applied LD taping on pronated rear-foot during gait. Methods: Twenty-four participants were recruited for this study. The gait data were recorded using an 8-camera motion capture system and two force platforms. At first, the experiments were carried out that participants walked barefoot without LD taping. And then they walked both feet was applied LD taping. Results: The ankle inversion minimum was significantly greater after LD taping than before LD taping (p=.04); however, in the GRF, there were no significant differences in the inversion maximum or total motion of the stance phase (p=.33, p=.07), or in the vertical (p=.33), posterior (p=.22), and lateral (p=.14) peak forces. Conclusion: The application of taping to pronation rear-foot assists in increased ankle inversion.

• 대한족부족관절학회지
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• 제4권1호
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• pp.19-22
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• 2000

Fracture and dislocation of the four lateral metatarsal head and neck at the metatarsophalangeal joint, which may be associated with a hyperextension force, axial load, and additional rotating force, has rarely been reported. The patient was a 32-year-old man who sustained the injury in a motor vehicle accident. Manual reduction was easily performed but maintenance of reduction was difficult, due to the associated fractures of the metatarsal necks. Thus percutaneous internal fixation with Kirshner's wires was required.

• 수산해양교육연구
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• 제25권4호
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• pp.891-897
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• 2013

This study is purposed to propose indices in order to achieve goals such as preventing one-sided movement of balance, preventing injuries to joints of legs, improving muscular strength of legs, and maximizing sporting achievement. In terms of methodology, this study has compared foot pressure distribution during squat exercise. This study targets 10 male students in their 20s of Department of Physical Education and 10 male students in their 20s of other departments of P University located in B City. Skilled members have been selected out of those who have had regular weight training experiences for last 3 years. As a result of analysis on impact of squat exercise on foot pressure, conclusions have been obtained as shown below. As a result of analysis on foot pressure distribution of back feet of skilled members and unskilled members during squat exercise, it was found out that foot pressure of left foot of skilled members was 0.13kgf/s, and that of unskilled members was 0.28kgf/s, showing significant difference (p<.01). As a result of analysis on foot pressure ratio of back feet of skilled members and unskilled members during squat exercise, it was found out that foot pressure ratio of left foot of skilled members was 50.03%, and that of unskilled members was 67.18%, showing significant difference(p<.01).

• 한국정밀공학회지
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• 제27권6호
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• pp.82-89
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• 2010

Ankle-foot orthosis with an artificial pneumatic muscle which is intended for the assistance of plantarfelxion torque was developed. In this study, power pattern of the device in the various pneumatics and the effectiveness of the system were investigated. The pneumatic power was provided by ankle-foot orthosis controlled by user‘s physiological signal, that is, muscular stiffness in soleus muscle. This pneumatic power can assist plantarflexion torque of ankle joint. The subjects performed maximal voluntary isokinetic plantarflexion motion on a biodexdynamometer in different pneumatics, and they completed three conditions: 1) without wearing the orthosis, 2) wearing the orthosis with artificial muscles turned off, 3) wearing the orthosis activated under muscular stiffness control. Through these experiments, we confirmed the effectiveness of the orthosis and muscular stiffness control using the analyzing isokinetic plantarflexion torque. The experimental results showed that isokinetic torques of plantarflexion motion of the ankle joints gradually increased in incremental pneumatic. The effectiveness of the orthosis was -7.26% and the effectiveness of the muscular stiffness control was 17.83% in normalized isokinetic plantarflexion torque. Subjects generated the less isokinetic torques of the ankle joints in wearing the orthosis with artificial muscles turned off, but isokinetic torques were appropriately reinforced in condition of wearing the orthosis activated under muscular stiffness control(17.83%) compared to wearing the orthosis(-7.26%). Therefore, we respect that developed powered orthosis is applied in the elderly that has weak muscular power as the rehabilitation equipment.

• 대한족부족관절학회지
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• 제19권4호
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• pp.193-196
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• 2015

Melorheostosis is a rare disease, belonging to the sclerotic bone dysplasia group. Initially described by Leri and Joanny in 1922, its etiology remains unknown. Onset is usually insidious, with deformity of the extremity, pain, limb stiffness, and limitation of motion in the joints. The typical radiographic appearance consists of irregular hyperostotic changes of the cortex, resembling melted wax dripping down one side of a candle. Treatment is usually symptomatic and conservative; however, conservative treatment is unsatisfactory due to functional issues when involving the distal extremity. We report on two cases of melorheostosis with synovial chondromatosis of the foot treated by mass excision.

• 대한족부족관절학회지
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• 제25권1호
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• pp.17-24
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• 2021

Surgical treatments for chronic lateral ankle instability include anatomic repair, anatomic reconstruction using an auto or allograft, non-anatomic reconstruction, and arthroscopic repair. Open anatomic repair using the native ligament with or without reinforcement of the inferior extensor retinaculum is commonly performed in patients with sufficient ligament quality. Non-anatomical reconstruction using the adjacent peroneus brevis tendon is typically used only in patients with poor-quality ligament remnants or when previous repair failed. Anatomical reconstruction can be considered in patients in whom anatomical repair is expected to fail and when performed using auto or allografts can provide good to excellent short-term results, although the long-term outcomes of these methods remain unclear. Arthroscopic repair can provide good to excellent short-term clinical outcomes, but evidence supporting this technique is limited. The advantages and disadvantages of various surgical methods should be compared, and appropriate treatment should be implemented based on patient characteristics.