• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.39-46
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• 2011

The purpose of this study was to examine differences between players who bend the left elbow and those who stretch it during the forward swing from BST to BC in a 2-handed backhand stroke among outstanding high school tennis players, and to assess the detailed 3D rotational kinematic characteristics of the shoulder and the hip. Statistically significant differences were observed between groups in the longitudinal axis rotation angle of the shoulder and the angle between the shoulder and the arm at BST, and in the side to side movement of the shoulder, the up and down movement of the hip, the side tilt angular velocity of the shoulder, the side tilt angular velocity of the hip, and the front tilt angular velocity of the hip at BC. The difference in the longitudinal axis rotation angle of the shoulder between the 2 groups suggests a difference in the flexibility of the joint in the shoulder arm racquet system. The longitudinal axis rotation angular velocity of the shoulder reached its peak at 75 % of the duration of the analyzed segment and then decreased little by little until BC. This time is considered the stage for increasing the angular velocity of the upper arm, the forearm, the hand and then the racquet, which are more distal segments than the shoulder.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.5 no.1
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• pp.39-51
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• 1999

Background and Purpose. Objective measurements of hamstring muscle length are needed to quantify baseline limitations and to document the effectiveness of therapeutic interventions. Several indirect clinical tests for measuring hamstring muscle length are available, but influence of their test procedure is not well documented. The purpose of this study were 1) to describe hamstring muscle length as reflected by use of six tests(active straight leg raising(ASLR), passive straight leg raising(PSLR), passive straight leg raising with the lower back flat(PSLRB), active knee extension(AKE), passive knee extension(PKE), hip joint angle(HJA). 2) to examine the correlation among the tests. Subjects, Sixty subjects(30 men. 30 women) ranging in age from 18 to 25 years(mean 20.2 years) and with no limitation hamstring flexibility and no neurological and orthopedical problems. Methods. All subjects performed six tests. A inclinometer was used to determine the end point of range of motion. HJA was measured using an inclinometer placed over the sacrum. PSLRB were tested PSLR with the low back flat and the opposite thigh slightly flexed and support on pillows. Results, A mean ASLR value of 85.9 degrees, PSLR value of 99.9 degrees, PSLRB value of 109.8 degrees, AKE value of 77.2 degrees PKE value of 83.1 degrees and HJA value of 73.0 degrees were obtained for all subjects. A dependent t-test showed significant difference between the angles of ASLR and PSLR(p<0.001). There was a significant difference between the angles of PSLR and PSLRB(p<0.001). There was a significant difference between the angles of AKE and PKE(p<0.001). The highest correlation was between PSLR and PSLRB(r=0.915, p<0.001). All SLR tests were significants related(p<0.001), as well as AKE and PKE(p<0.001). The lowest correlation was between PKE and HJA(r=0.171. p>0.05). Conclusion and Discussion. The results indicated that the hip flexion angles for ASLR, PSLR and PSLRB were a difference, and the knee extension angles for AKE and PKE were a difference.

• The Journal of Korean Physical Therapy
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• v.11 no.2
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• pp.93-102
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• 1999

Alignment of the hip joint and pelvis affects it's weight-bearing capabilities as well as the motion available at the joints. The normal hip joint is well designed to withstand the forces that act through and around it, assisted by the trabecular systems, cartilagious, muscles, and ligaments. Alterations in the direction or magnitude of forces action around the injury and degenerative changes. The integration of motion of the pelvis with motion of the vertebral column not only increases the ROM available to the total column but also reduces the amount of flexibility required of the lumbar lesion. In any instance in which there is normal or abnormal pelvic motion during weight hearing and the head must remain upright, compensatory motions of the lumber spine will occur if available. The motions that occur at the hip, pelvis, and lumbar spine during forward trunk bending with the motions that occur during anterior and posterior tilting of the pelvis in the erect standing postion.

• Journal of Korean Physical Therapy Science
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• v.28 no.1
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• pp.76-84
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• 2021

Background: In clinical practice, active knee extension (AKE) test has been widely used to measure hamstring flexibility. During the AKE test, the knee extension is repeated six times. The first five repetitions are considered as warm-up, and the sixth is used as baseline. In order to accurately measure the subject's inherent flexibility, warm-up trials have been proposed as mentioned above; but currently, the evidence is insufficient. Design: Cross-sectional study. Methods: Forty-three healthy adults participated in this study. The AKE was performed slowly after flexing the hip and knee joints by 90° in a supine position. The knee was extended as far as could be done without causing discomfort or pain. When reaching the end range, knee flexion was performed without stopping. As per standard protocol, the subjects performed the knee extension six times. Results: There was no significant difference between the AKE value in the first trial with those in the other five trials. During the repetitions, the average value in the group with higher flexibility tended to decrease and the Intraclass correlation coefficient gradually decreased. Conclusion: Successive repetitions of the AKE test can misrepresent an individual's inherent hamstring flexibility. In order to avoid a decrease in hamstring flexibility, it is strongly recommended that individuals with high initial hamstring flexibility avoid unnecessary repetitions of the AKE test.

• Journal of the Korean Applied Science and Technology
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• v.37 no.4
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• pp.839-847
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• 2020

The purpose of this study was to analyze the effects of ankle flexibility, gender, and Q-angle on the ankle joint injury factors during one leg drop landing. For this study, 16 males(age: 20.19±1.78 years, mass: 69.54±10.12 kg, height: 173.22±4.43 cm) and 16 females(age: 21.05±1.53 years, mass: 61.75±6.97 kg, height: 159.34±4.56 cm) in their 20's majoring in physical education using the right foot as their dominant feet were selected as subjects. First, an independent t-test of joint motion and joint moment according to the experience of ankle injury was conducted to determine the effect of physical characteristics on ankle joint injury during one leg drop landing(α = .05). Second, the variable that showed a significant difference through t-test was set as the dependent variable, and the ankle flexibility, gender difference, and Q-angle were designated as independent variables to use Multiple Linear Regression(α =. 05). As a result of this study, it was found that the group that experienced an ankle joint injury was found to use a landing strategy and technique through adduction of the ankle joint and internal rotation of the knee joint, unlike the group without an injury. It was also confirmed that this movement increases the extension moment of the ankle joint and decreases the extension moment of the hip joint. In particular, it was found that the dorsi flexion flexibility of the ankle affects the ankle and knee landing strategy, and the gender difference affects the ankle extension moment. Therefore, it was confirmed that physical characteristics factors affecting ankle joint injuries during one leg drop landing.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.1-7
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• 2011

The purpose of this study was to investigate changes in kinetic and kinematic variables associated with an increase in upper body weight. Eighteen healthy male university students($175.96{\pm}4.19\;cm$, $70.79{\pm}8.26\;kg$) participated. Eight motion analysis cameras(Qualysis Oqus 500) and 2 force AMTI platforms(Advanced Mechanical Technologies Inc. OR6-7, US) were used to record motion and forces during the drop landing at a frequency of 120 Hz and 1200 Hz, respectively. QTM software(Qualisys Track Manager) was used to record the data, and the variables were analyzed with Visual 3D and Matlab 2009. For the drop landing, a box of $4{\times}2{\times}0.46\;m$ was constructed from wood. Knee and ankle maximum flexion angle, knee flexion angle, knee and ankle angle at landing, time for maximum ankle flexion after landing, and time for maximum knee flexion after landing were calculated. There was a significant change in the time for maximum and minimum ground force reaction and the time for maximum dorsal flexion after landing(p<.05) with increasing weight. There was no significant change for the hip, knee, and ankle ROM, whereas there was an increase in the angle ROM as the weight increased, in the order of ankle, knee, and hip ROM. This result shows that the ankle joint ROM increased with increasing weight for shock attenuation during the drop landing. There was a trend for greater ankle ROM than knee ROM, but there was no clear change in the ROM of the hip joint with increasing weight. In conclusion, this study shows the importance of ankle joint flexibility and strength for safe drop landing.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.11 no.3
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• pp.281-291
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• 2004

Purpose: This study was done to investigate the effects of a rehabilitation program including Koryo Hand-Acupuncture on physical function, self-esteem, and quality of life of post-stroke elderly patients. Method: A nonequivalent control group pre-post test research design was used. Participants in the study were 44 post-stroke elderly people (22 in an experimental group, 22 in a control group) enrolled in a social welfare center and a hospital in K city. Data were collected from April 6 to August 20, 2004. The program consisted of Koryo Hand-Acupuncture, ROM exercise, health education and supportive care. The analyses were carried using frequencies, percentages, $x^2$-test, Fisher exact and t-test with SPSS 10.0. Results: The patients in the experimental group, who took part in the 10-weeks rehabilitation program including Koryo Hand-Acupuncture, had significant increases in shoulder joint flexion, shoulder joint abduction, elbow joint flexion, hip joint flexion, knee joint flexion, knee joint extension, flexibility, self-esteem and quality of life as compared to the control group. Conclusion: These results suggest that a rehabilitation program including Koryo Hand-Acupuncture may be utilized as an effective nursing program to improve physical function, self-esteem and quality of life for post-stroke elderly patients.

• Journal of the Korean Society of Physical Medicine
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• v.4 no.3
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• pp.149-156
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• 2009

Purpose：The hamstring muscle has an important role in standing, walking and other functions related to daily living. Most people with Cerebral Palsy(CP) have muscle tightness, especially in the hamstring, which may cause abnormal alignment in the lower extremities. To investigate an effective treatment for hamstring muscle tightness by observing the effects of heat pack or Soft tissue mobilization(STM) on hamstring muscles. Methods：Thirteen-two volunteers with CP aged between 9 and 13 years($M\pmSD$: $11\pm1.46$), were recruited and divided into four groups of four: (1) the STM for people with Spastic CP group, (2) the heat pack(HP) for people with Spastic CP group, (3) the STM for people with Mixd CP group, and (4) the heat pack for people with Mixed CP group. All received treatment three times per week for six weeks. A inclinometer was used to measure for hip flexion & knee extension joint range motion(ROM). Results：The ROM of hip flexion & knee extension were improved at the STM and HP for people with Spastic CP groups. The ROM and hip flexion were improved at the STM and HP for people with Mixed CP groups. The amount of increase ROM are differenced by the types of CP. Conculusion：STM and heat pack, both are effective for people with CP especially for Spastic CP.

• Journal of Fashion Business
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• v.26 no.2
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• pp.143-155
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• 2022

The purpose of this study was to develop protective clothing that could alleviate fall impacts. Fall impact protection pants for elderly women were designed, and motion adaptable hip pads and knee pads printed by 3D printing were integrated into the pants and evaluated. First, the design of the fall impact protection pants with variable motion was semi-loose fitting pants that could be worn and detached from the protective pad. A pad pocket was made in the lining inside the pants so that the protective pad could be fixed to the protective area. Second, in the evaluation of the appearance of the fall impact protection pants, the wearer group had a good score of 4.60 or higher for all questions on color, material, ease, and fit. In the evaluation of the insertion method of the protective pad, the flexibility of the pad, and the weight of the pad, the subjects' scores were 4.30~4.80. The fit of the fall impact protection pants was excellent in the texture and elasticity of the outside and inside of the pants. There was no discomfort due to the pad(4.60), and no difficulty in movement during wearing activities was reported. During squatting, it was evaluated as 4.80, indicating that the motion adaptable hip joint and knee pads were highly effective during operation.