• 로봇학회논문지
• /
• 제12권3호
• /
• pp.356-364
• /
• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• Bulletin of the Korean Chemical Society
• /
• 제23권2호
• /
• pp.253-261
• /
• 2002

Vibrational properties of ferrocyanide complex ion, $[Fe(CN)_6]^{4-}$ , have been studied based on the force constants obtained from the density functional calculations at B3LYP/$6-31G^{\ast\ast}$ level by means of the normal mode analysis using new bond angle and linear angle internal coordinates recently developed. Vibrations of ferrocyanide were manipulated by twenty-three symmetry force constants. The angled bending deformations of C-Fe-C, the linear bending deformations of Fe-C${\equiv}$N and the stretching vibrations of Fe-C have been quantitatively assigned to the calculated frequencies. The force constants in the internal coordinates employed in the modified Urey-Bradley type potential were evaluated on the density functional force field applied, and better interaction force constants in the internal coordinates have been proposed. The valence force constants in the general quadratic valence force field were also given. The stretch-stretch interaction and stretch-bending interaction constants are not sensitive to the geometrical displacement in the valence force field.

• 국제물리치료학회지
• /
• 제3권2호
• /
• pp.422-428
• /
• 2012

The present study purposed to examine the effects of transcutaneous electrical nerve stimulation, self-stretching and functional massage on the recovery of muscle contraction force for muscle fatigue caused by sustained isotonic contraction. The subjects of this study were 45 healthy students. They were divided into transcutaneous electrical nerve stimulation group(n=15), self-stretching group(n=15) and functional massage group(n=15), and using Primus RS. We observed the pattern of changes in maximal voluntary isometric contraction force(MVIC) after causing muscle fatigue in quadriceps femoris muscle through sustained isotonic contraction. Maximal voluntary isometric contraction force(MVIC) were greatly increased after transcutaneous electrical nerve stimulation, self-stretching and functional massage. In the comparison of recovery rate of muscle contraction force for muscle fatigue caused by sustained isotonic contraction among the treatment groups, it did not show any significant differences. However, it showed that each treatment may be effective in recovery of muscle fatigue caused by sustained isotonic contraction.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권8호
• /
• pp.1046-1053
• /
• 1999

The musculotendon model is presented to show the declines in muscle force and shortening velocity during muscle fatigue due to the repeated functional electrical stimulation (FES). It consists of the nonlinear activation and contraction dynamics including physiological concepts of muscle fatigue. The activation dynamics represents $Ca^{2+}$ binding and unbinding mechanism with troponins of cross-bridges in sarcoplasm. It has the constant binding rate or activation time constant and two step nonlinear unbinding rate or inactivation time constant. The contraction dynamics is the modified Hill type model to represent muscle force - length and muscle force - velocity relations. A muscle fatigue profile as a function of the intracellular acidification, pH is applied into the contraction dynamics to represent the force decline. The computer simulation shows that muscle force and shortening velocity decline in stimulation time. And we validate the model. The model can predicts the proper muscle force without changing its parameters even when existing the estimation errors of the optimal fiber length. The change in the estimate of the optimal fiber length has an effect only on muscle time constant in transient period not on the tetanic force in the steady-state and relaxation periods.

• 한국운동역학회지
• /
• 제16권3호
• /
• pp.9-18
• /
• 2006

These studies show that I applied to functional insole (a specific S company) for minimizing shocks and sprain people's ankle arising from running. How to an effect on human body which studied a kinematics and kinetics from 10 college students during experiments. This study imposes several conditions by barefoot, normal running shoes and put functional insole shoes ran under average $2.0{\pm}0.24$ meter per second by motion analysis, ground reaction force and electromyography that used to specific A company. First of all, Motion analysis was caused by Achilles tendon angle, Angle of the lower leg, Angle of the knee, Initial sole angle and Barefoot angle. Second, Contact time, Vertical impact force peak timing, Vertical active force and Active force timing, and Maximum loading rate under impulse of first 20 percent and Value of total impulse caused Ground reaction force. Third. The tendon fo Quadriceps femoris, Biceps femoris, Tibialis anterior and gastronemius medials caused. electromyography. 1. Ground reaction force also showed that statically approximates other results from impact peak timing (p.001), Maximum loading rate(p<.001), Maximum loading rate timing (p<.001) and impulse of first 20 percent (p<.001). 2 Electromyography showed that averagely was distinguished from other factors, and did not show about that. Above experiment values known that there was statically difference between Motion analysis and Ground reaction force under absorbing of the functional insole shoes which was not have an effect on our body for kinetics and kinematics.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 B
• /
• pp.656-658
• /
• 1999

This paper presents musculotendon model to show the decline in muscle force during functional electrical stimulation (FES). It represent muscle activation and contraction concepts including muscle fatigue. A muscle fatigue term in activation dynamics as a function of the intracellular acidification and the pulsewidth of stimulation pulses change activation to decline muscle force. The computer simulation shows that muscle force decline in stimulation time.

• 국제물리치료학회지
• /
• 제8권1호
• /
• pp.1084-1089
• /
• 2017

The purpose of this study was to compare and analyze the difference of the ankle joint movements during landing. Seven adult males voluntarily participated in the study and the average foot size of the subjects was 269.8 mm. Image analysis equipment and the ground reaction force plate (landing type) was used to measure th kinetic variables. As a result of this study, it was confirmed that the vertical ground reaction force peak point appeared once in the barefoot with forefoot, while two peak points appeared in the barefoot and functional shoe foot with rear foot landing. About ankle angle, fore foot landing ankle angle, the average with bare foot landing was $-10.302^{\circ}$ and the average with functional shoe foot landing was $-2.919^{\circ}$. Also about rear foot landing, ankle angle was $11.648^{\circ}$ with bare foot landing and $15.994^{\circ}$ with functional shoe landing. The fore foot landing, ankle joint force analysis produced 1423.966N with barefoot and 1493.264N with functional shoes. But, the rear foot landing, ankle joint force analysis produced 1680.154N with barefoot and 1657.286N with functional shoes. This study suggest that the angle of ankle depends on the landing type and bare foot running/functionalized shod running, and ankle joint forces also depends on landing type.

• 센서학회지
• /
• 제30권3호
• /
• pp.185-189
• /
• 2021

Herein, we propose a functional polymer cantilever to enhance maturation and contractile force of cardiomyocytes. The proposed cantilever consists of a surface-patterned polymer substrate and silver nanowires (AgNWs). The AgNWs are transferred to the PDMS substrate using conventional molding techniques. This thin metallic surface significantly improves the adhesion of cardiomyocyte on the surface-patterned PDMS with the hydrophobic characteristics. In addition, the use of AgNWs improves the visibility of the conducting PDMS substrate for the observation of cardiomyocyte through an inverted microscope. The AgNWs also assist in synchronizing each cardiomyocyte to maximize its contractile force.

• 한국운동역학회지
• /
• 제17권2호
• /
• pp.51-59
• /
• 2007

These studies show that I applied to functional insole (a specific A company) for minimizing shocks and sprain people's ankle arising from running. How to an effect on human body which studied a kinematics and kinetics from 10 college students during experiments. This study imposes several conditions by barefoot, normal running shoes and put functional insole shoes ran under average $2.0{\pm}0.24\;m$/sec by motion analysis and ground reaction force that used to specific A company. First of all, motion analysis was caused by achilles tendon angle, angle of the lower leg, angle of the knee, initial sole angle and barefoot angle. The result of comparative analysis can be summarized as below. Motion analysis showed that statically approximates other results from achilles tendon angle (p<.01), initial ankle angle(p<.05), initial sole angle(p<.001) and barefoot angle(p<.001). Ground reaction force also showed that statically approximates other results from impact peak timing (p<.001), Maximum loading rate(p<.001), Maximum loading rate timing (p<.001) and impulse of first 20 percent (p<.001). Above experiment values known that there was statically difference between Motion analysis and Ground reaction force under absorbing of the functional insole shoes which was not have an effect on our body for kinetics and kinematics.

• Bulletin of the Korean Chemical Society
• /
• 제21권10호
• /
• pp.1035-1038
• /
• 2000

Vibrational properties of dopamine neutral species in powder state have been studied by means of the normal mode analysis based on the force constants obtained from the density functional calculation at B3LYP level and the results of Fourier trans form Raman and infrared spectroscopic measurements. Ab initio calculation at MP2 level shows that the trans conformer of dopamine has higher electronic energy about 1.4 kcal/mol than those of the gauche+ and the gauche-conformers, and two gauche conformers have almost the same energies. Free energies calculated at HF and B3LYP levels show very similar values for three conformers within 0.3 kcal/mol. Empirical force field has been constructed from force constants of three conformers, and refined upon ex-perimental Raman spectrum of dopamine to rigorous values. The major species of dopamine neutral base in the powder state is considered a trans conformer as shown in the crystallographic study of dopamine cationic salt.