• Journal of Korean Foot and Ankle Society
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• v.25 no.1
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• pp.38-45
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• 2021

Subtalar joint instability (STI) is one of the causes of persistent hindfoot pain even after treatment for ankle instability. Diagnosis of STI is often neglected because it is a poorly understood concept. However, understanding of the anatomy and injury mechanism of the subtalar joint is a prerequisite of appropriate treatment. Patients with STI usually complain of several symptoms, such as recurrent sprains or a giving way sensation and rolling over. Recently, various diagnostic tools and treatment methods have been investigated. This study was undertaken with the aim of helping clinicians by providing a comprehensive understanding of STI.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.540-546
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• 2017

Bipedal robots tend to have greater mobility than conventional treaded or wheeled robots yet they are commonly complicated by instabilities in balance. This paper presents a bipedal robot based upon Jansen's locomotive mechanism which addresses these challenges in stability and efficiency. In order to achieve a functioning robot, we considered a multitude of variables in its motion including, the Ground Score, Drag Score, step size, foot lift, stride, and instantaneous speed of the Jansen mechanism. Matlab and Jansen Opt solver were used to optimize the legs of the robot. A trial and error experimental method was used to determine the best combination of link lengths, and m.Sketch was used to model our results. Finally, we drew the entirety of the robot's figure by using the Edison design.

• Journal of Korean Foot and Ankle Society
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• v.8 no.1
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• pp.86-91
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• 2004

Purpose: To evaluate the methods and results of the surgical treatment in the trimalleolar fracture of the ankle. Materials and Methods: We analysed the results of the ankle trimalleolar fracture which were treated with open reduction and internal fixation from January 1999 till September 2003. There were 45 patients who had at least six months follow up, 16 men, and 29 women. We have analysed the mechanism of injury, methods of operation and postoperative complications. Results: The results were assessed on ankle AP, lateral and mortise X-rays and retrospective chart review. There were 30 supination-external rotation, 13 pronation-external rotation, 2 pronation-abduction in the mechanism of injury by Lauge-Hansen classification. Cases of the posterior malleolar fracture which involved more than 25% of the weight bearing surface were 7 (15.6%). Medial malleolar mono-fixation was done in 5 cases, fibular mono-fixation in 2 cases, bimalleolar fixation in 32 cases, trimalleolar fixation in 6 cases. 38 cases (84.4%) were good or excellent in clincal assessment and 39 cases (86.7%) were good or excellent in radiological assessment according to the criteria of the Meyer. There was no difference of results among the surgical treatment methods. Conclusion: The results of our study indicate that the rigid fixation with early ankle motion and weight bearing is needed in ankle trimalleolar fracture. But minimal fixation is not bad in slight displaced fracture. Both anterior approach and posterior approach were useful methods to stabilization the posterior malleolar fracture. And pre-operative evaluation to detect the hidden soft tissue injuries and fracture mechanism is very important to avoid the failure.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.56-64
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• 2009

This paper presents a parallel typed walking robot which can walk in omni-direction and climb from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is conducted to maximize the walking space and the dexterity, which are normalized by the stroke of leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism and the lower leg mechanism and examine the gaits when the robot walks on the ground and climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that the triple parallel walking robot has a large walking space with a large stability region. We explore the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six steps proves that the robot can lift the foot up to the wall by combining the orientational walking space generated by three parallel mechanisms.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.187-194
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• 2007

The purpose of this study is to determine the characteristics of ground reaction force(GRF) in golf swing for various slopes of flat lie and uphill lies of 5 and 10 degrees. Five right-handed professional golfers were selected for the experiment and the 7 iron club was used. We used four forceplates to measure GRF and synchronized with the three-dimensional motion analysis system. Results showed that slope did not affect the total time for golf swing, but the time until the impact had a tendency to slightly increase for the uphill lie(p<0.05). The medial-lateral GRF of the right foot increased toward the medial direction during back swing, but less increases were found with the angle of uphill lie(p<0.05). The GRF of the left foot increased rapidly toward the medial direction at the uncocking and the impact during down swing, but decreased with the increase in the angle of uphill lie(p<0.05). The anterior-posterior GRF of both feet showed almost the same for different slopes. With the slopes, the vertical GRF of the right foot increased, but the vertical GRF of left foot decreased(p<0.05). Uphill lies would have negative effect to provide the angular momentum during back swing, restricting pelvic and trunk rotations, and to provide the precise timing and strong power during down swing, limiting movements of body's center of mass. The present study could provide valuable information to quantitatively analyze the dynamics of golf swing. Further study would be required to understand detailed mechanism in golf swing under different conditions.

• Journal of the Korean Society of Physical Medicine
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• v.5 no.1
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• pp.15-24
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• 2010

Purpose : The purpose of this study was to investigate the effect of loading position on plantar center of pressure(COP) displacement when carrying a schoolbag during walking. Methods : Forty-four normal subjects were randomly assigned to five groups according to the method of carrying a schoolbag. The carrying a schoolbag methods were classified into five conditions: no bag (condition 1), a backpack (condition 2), a shoulder bag (condition 3), a cross bag (condition 4), a one-hand bag (condition 5). COP displacement such as anteroposterior distance and mediolateral distance of COP were measured with F-scan system. The repeated one-way analysis of variance (ANOVA) and independent t-test were used to confirm the statistical significance. Results : In the comparison of parameters of COP displacement between conditions, anteroposterior distance and mediolateral distance in the left foot and mediolateral distance in the right foot were not significantly different(p>.05), but anteroposterior diatance in the right foot was significantly different(p>.05). Between left and right foot, at condition 1 and 5 the mediolateral distance of COP was significantly different(p<.05) but anteroposterior distance at condition 1 and 5, anteroposterior distance and mediolateral distance of COP at condition 2, 3 and 4 were not significantly different(p>.05). Conclusion : These findings showed that the various loading position by five types of carrying a schoolbag didn't have influence significantly on COP displacement on during walking because of mechanism of postural adaption.

• Korean Journal of Acupuncture
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• v.21 no.3
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• pp.59-76
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• 2004

Objectives : The usage of acupuncture has gained popularity for certain chronic pain conditions. However, the efficacy of acupuncture in various diseases has not been fully established and the underlying mechanism is not clearly understood. In the present study, the effect of electroacupuncture (EA) applied to yangno$(SI_6)$ on the neuropathic pain was examined. Methods : A common source of persistent pain in human is a neuropathic pain. Neuropathic pain was induced by tight ligation of L5 spinal nerve. When rats developed pain behaviors, EA was applied for 30 min. under enflurane anesthesia with repeated train stimuli at the intensity of 10X of muscle twitch threshold. The foot withdraw latency of the hind limb was measured for an indicator of pain level after each manipulation. Results : EA increased the mechanical threshold of the foot in the rat model of neuropathic pain significantly for the duration of 1 hr. suggesting a partial alleviation of pain. EA applied to SI6 point produced a significant improvement of mechanical sensitivity of the foot lasting for at least 1 h. However, $ST_{36}$ point did not produce any significant increase of mechanical sensitivity. The improvement of mechanical threshold was interpreted as an analgesic effect. The analgesic effort was specific to the acupuncture point since the analgesic effect on the neuropathic pain model could not be mimicked by EA applied to a point, $ST_{36}$. In addition, this analgesic effect of EA is mediated by a adrenergic mechanism of descending control of spinal cord from the brain. Conclusions : The data suggest that EA produces a potent analgesic effect on the neuropathic pain model in the rat; and 2) that EA-induced analgesia is mediated by a adrenergic mechanism of descending control in a point specific manner.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.936-941
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• 2014

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

• Journal of Auto-vehicle Safety Association
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• v.9 no.1
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• pp.25-31
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• 2017

Small Overlap test decided on IIHS (Insurance Institute for Highway Safety) evaluates a robustness of the car body and a passenger injury protection. A current vehicle is satisfied with a robustness of the car body for Small Overlap test but not meet the requirements of passenger injuries because it is difficult to inquire into the actual state of injury mechanism for Small Overlap test. The study shows the new injury mechanism which represents the relation between a structure of the vehicle placed with the lift foot and the low extremity injury.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.63-64
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• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.