• Journal of Korean Physical Therapy Science
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• v.9 no.1
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• pp.81-88
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• 2002

This paper presents a design and a control of a New Reciprocating Gait Orthosis and dynamic walking simulation for this system. The New Reciprocating Gait Orthosis is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a New Reciprocating Gait Orthosis depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the New Reciprocating Gait Orthosis. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal card injury patients are able to train effectively with a Reciprocating Gait Orthosis. The New Reciprocating Gait Orthosis was able to keep smooth walling by the orthotic servo motors and hybrid system, make a sequence of flexion and extension of the joint during the walking. Also, the New Reciprocating Gait Orthosis turned out to be a satisfactory orthosis for walling training, for the spinal cord injury patient.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.882-887
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• 2003

This paper presented a design and control of a new RGO(reciprocating gait orthosis)and its simulation. The new RGO was distinguished from the other one by which had a very light-weight and a new RGO(reciprocating gait orthosis) system. The vibration evaluation of the hip joint system on the new RGO(reciprocating gait orthosis)was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 ㎐. The gait of the new RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the new RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties, we made the hip joint system of FEM and the hip joint system by 1-axis and 3-axis Accelerometers.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.862-868
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• 2007

The planar motion of the index finger in general human hands is usually implemented by the actuation of three joints. This task requires a technique to determine the joint combination for each fingertip position which is well-known as the inverse kinematics problem in robotics. Especially, it is an essential work for grasping and manipulation tasks by robotic and humanoid fingers. In this paper, an intelligent neural learning scheme for solving such inverse kinematics is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed for fast learning. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3092-3094
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• 1999

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.58-65
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• 2006

The emotional interface is essential technology for the robot to provide the proper service to the user. In this research, we developed emotional components for the service robot such as a neural network based facial expression recognizer, emotion expression technologies based on 3D graphical face expression and joints movements, considering a user's reaction, behavior selection technology for emotion expression. We used our humanoid robots, AMI and AMIET as the test-beds of our emotional interface. We researched on the emotional interaction between a service robot and a user by integrating the developed technologies. Emotional interface technology for the service robot, enhance the performance of friendly interaction to the service robot, to increase the diversity of the service and the value-added of the robot for human. and it elevates the market growth and also contribute to the popularization of the robot. The emotional interface technology can enhance the performance of friendly interaction of the service robot. This technology can also increase the diversity of the service and the value-added of the robot for human. and it can elevate the market growth and also contribute to the popularization of the robot.

• ETRI Journal
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• v.41 no.4
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• pp.494-505
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• 2019

In this paper, we propose a new framework for detecting the unauthorized dumping of garbage in real-world surveillance camera. Although several action/behavior recognition methods have been investigated, these studies are hardly applicable to real-world scenarios because they are mainly focused on well-refined datasets. Because the dumping actions in the real-world take a variety of forms, building a new method to disclose the actions instead of exploiting previous approaches is a better strategy. We detected the dumping action by the change in relation between a person and the object being held by them. To find the person-held object of indefinite form, we used a background subtraction algorithm and human joint estimation. The person-held object was then tracked and the relation model between the joints and objects was built. Finally, the dumping action was detected through the voting-based decision module. In the experiments, we show the effectiveness of the proposed method by testing on real-world videos containing various dumping actions. In addition, the proposed framework is implemented in a real-time monitoring system through a fast online algorithm.

• Journal of Veterinary Clinics
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• v.39 no.2
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• pp.59-64
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• 2022

A dog aged two years and seven months and a cat aged seven years were referred owing to fractures of long bones. Preoperative radiographs revealed comminuted bone fractures close to joints. Conventionally, long-bone fractures are treated using intramedullary pins, plate and screw systems, or an external fixator system. In cases of non-reducible fractures, various graft materials have been used in fracture treatments to stimulate bone repair. Here, recombinant human bone morphogenetic protein-2 (rhBMP-2) and a collagen membrane were applied. Four weeks after surgery, fractured bone fragments began to unite and the bone union was observed using radiography four months after surgery. No complications occurred related to grafted materials. We successfully applied rhBMP-2 and collagen membranes in two different species to support the healing process of comminuted fractures, according to the concept of guided bone regeneration.

• Journal of the Korean Society of Costume
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• v.56 no.7 s.106
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• pp.42-53
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• 2006

The purpose of this research is to study doll's symbolism representing our social culture and the characteristics of clothing design. The ball joint doll was selected, that are pretty much resembled to human body in terms of facial expression, body proportion, joint movement, etc. Results of research are summarized as follows: the ball joint doll is indicated a doll whose joints are free to move with a round shaped joint, which originated by Yochilya simon, who adopted German Hans Bellmer's method.'rho ball joint doll, first, there appeared state of human isolation due to the material civilization and industrial revolution, and trend of adhering to one's own world made human possess dolls. Second, according to the doll play became a representing play culture among Kidult culture, dolls, that are resembled with human being, were recognized as personalized objects. Third, along of expanding digital culture that makes easy to exchange information via Internet, so, ball joint doll market is growing fast, for which various levels of mania are being formed. Take a look at the doll fashion in modern society. In accordance to form of Look, it is largely categorized Young Casual look, Office look, Ethnic look and Military look. When take a look at design specialty, young casual look was presented as a comfortable silhouette and also made of elastic materials and expressed vivid bright tones. Office look image was expressed as a suit of jacket with skirt, and cotton wool polyester materials and acro-matic colors. Ethnic look was represented by Japanese traditional dress and Chinese traditional clothing. The Military look was generally emphasized army uniforms of straight silhouette and shoulder straps.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.785-790
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• 2011

The goal of this study is to estimate the force acting on the knee joint in the human body by using the Hilltype muscle model based on a musculoskeletal model of the human lower extremity in the sagittal plane. For estimating the force applied, the human leg is modeled using multi-body modeling. This leg model comprises biarticular muscles acting on two joints of the upper and lower limbs, and the muscles include some of the major muscles such as the hamstring. In order to analyze the uncertainty of the applied forces acting on the knee joint, statistical distributions of human body, leg part, parameters are required and to obtain the parameter's statistical characteristic of the part sample survey method is employed. Finally, by using the sensitivity information of the parameters, the force acting on the knee joint can be estimated.

• IMMUNE NETWORK
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• v.2 no.1
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• pp.25-34
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• 2002

Background: Rheumatoid arthritis (RA) is a chronic inflammatory disease characterized by synovial hyperplasia and joint destruction. The synovial fibroblasts express cell adhesion molecules and have a role in adhesive interation with inflammatory cells in synovial tissue. It has been suggested that hypoxic conditioins are thought to exist in arthritic joints, and several studies indicate that reactive oxygen species (ROS) produced in hypoxic condition can initiate events that lead to pro-adhesive changes via increased expression of adhesion molecules. So, this study wsa designed to examine whether antioxidant can inhibit hypoxia-induced expression of ICAM-1 in cultured human synovial fibroblasts. Methods: Synovial fibroblasts were isolated from synovial tissue in patients with RA and cultured at hypoxic condition. Antioxidant, PDTC (pyrrolidine dithiocarbamate) were pre-treated for an hour before the hypoxic culture and synovial fibroblasts were harvested at 0, 6, 12, 24, 48 hours time points. Cell surface ICAM-1 expression in synovial fibroblasts was examined by the flow cytometric analysis. To analyse the expression of ICAM-1 mRNA, reverse-transcriptase polymerase chain reaction (RT-PCR) was performed. The levels of cytokines in culture supernatants were measured by ELISA, and activation of NF-${\kappa}B$ was analysed by electrophoretic mobility shift assay. The adhesive reaction between synovial fibroblasts and lymphocytes was assayed by measurement of fluorescent intensity of BCECF-AM in lymphocytes. Results: Hypoxic stimuli up-regulated the ICAM-1 expression as well as the adhesive interaction of human synvial fibroblasts to lymphocytes in a time-dependent manner, and PDTC inhibited hpyoxia-induced ICAM-1 expression and cell-cell interaction. PDTC also inhibited the hypoxia-induced activation of intracellular transcription factor, NF-${\kappa}B$. PDTC decreased the amount of hypoxia-induced production of IL-$1{\beta}$ and TNF-${\alpha}$. Conclusion: These studies demonstrate that PDTC inhibit the hypoxia-induced expression of the adhesion molecule, ICAM-1 and activation of NF-${\kappa}B$ in cultured human synovial fibroblasts.