• 로봇학회논문지
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• 제8권2호
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• 대한정형도수물리치료학회지
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• 제20권1호
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• pp.35-38
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• 2014

Background: The case study examined the effect of a hip joint traction and hip posterolateral muscles strengthening on knee pain, range of motion, and lower extremity function scale of patients with patellofemoral pain syndrome (PFPS). Although PFPS has previously been attributed to quadriceps dysfunction, more recent research has linked this condition to impairment of the hip musculature and kinematic. Methods: Subject is a 27-years-old female with PFPS. Performed hip joint traction with belt and posterolateral muscles(hip abductors, external rotators) strengthening for 4 weeks, 3 times a week, once a day. Before and after the therapy, measurements were made on the visual analog scale (VAS) and of the ROM, and a lower extremity functional scale (LEFS) was conducted. Results: The results showed positive changes in VAS and range of motion and lower extremity functional scale. First VAS of knee changed from 6 to 2. Second hip joint range of motion showed that internal rotation recored from $53^{\circ}$ to $58^{\circ}$ and external rotation recorded from $32^{\circ}$ to $37^{\circ}$. Third The lower extremity functional scale showed before therapy of 44; after therapy, 63. Conclusion: The hip joint traction and hip posterolateral muscles strengthening was effective in alleviating knee pain, increasing ROM and Lower extremity functional scale of the PFPS patients.

• 한국실내디자인학회논문집
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• 제18권3호
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• pp.39-46
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• 2009

The purpose of this study is to analyze the meaning of 'dis-joint' in the works of Louis I. Kahn. Kahn tried to realize his main architectural thoughts of 'what it wants to be' and 'how it was done' through his whole life. The concept of 'dis-joint' had been developed to visualize his architectural thoughts. Kahn used' dis-joint' to show and emphasize the structural system for the raison d'etre of building. Kahn's 'dis-joint' can be categorized as 'spacing', 'butt', 'slit' and 'protrusion'. Kahn used this kind of unusual way of joint beyond simple exposure to stress the existence of element, part and building itself. Through variable combination usage of 'dis-joint', Kahn can realize his architectural thoughts into building in a concrete way. The efficiency and function of joint is not the main issue in his works. 'Dis-joint' was the concrete tool to show the tectonic of architecture and construction process to enhance its presence. Therefore 'dis-joint' of Kahn's architecture is not a joint only to combine building parts but a concrete mean to realize his thoughts in a corporeal way. These facts insinuate that Kahn's architectural philosophy is based on the thoughts of tectonic and its realization.

• The Journal of Korean Physical Therapy
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• 제24권2호
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• pp.151-156
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• 2012

Purpose: The purpose of this study was to investigate the adverse effects of sensorimotor function at the shoulder joint according to long-term cane usage in stroke patients without apraxic behavior, in terms of the presence of shoulder joint pain, accuracy of tracking task, proprioceptive joint position sense, and nine-hole pegboard. Methods: Nineteen stroke patients with long-term cane usage (cane usage group) and nineteen stroke patients without cane usage (non-cane usage group) were recruited. All subjects were tested in pain presence, a tracking task for visuomotor function, joint reposition, and nine-hole pegboard in the shoulder joint regarding the non-affected side. Results: In the accuracy index for tracking task and the nine-hole pegboard test, significant differences were observed between the cane usage group and the non-cane usage group. However, although a higher emergence of shoulder pain and a lower accuracy for joint reposition sense were detected in the cane usage group in comparison to the non-cane usage group, there were no significant differences between the two groups. Conclusion: Our findings suggest that long-term cane usage could induce to decrease in delicate movement and coordination in the non-affected upper arm in stroke patients. In addition, they could experience high frequency of shoulder pain and poor joint reposition sense. Therefore, careful evaluation and observation will be required concerning stroke patients with long-term cane usage.

• 근관절건강학회지
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• 제22권3호
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• pp.236-244
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• 2015

Purpose: The purpose of this study was to investigate physical activity of elderly women at senior citizen centers and to identify factors influencing physical activity. Methods: The study was conducted from February 22 to April 20, 2013 for 200 elderly women at senior citizen centers in J City. Levels of physical activity, cognitive function, and nutritional status were measured. Results: The total physical activity amount was $2118.94{\pm}2.36$ MET-min. The average cognitive function score was $21.17{\pm}4.63$, and the average nutritional status score was $24.04{\pm}3.37$. There were significant relationships among physical activity, cognitive function, and nutritional status. In addition, there were significant differences of groups of physical activity by levels of cognitive function and nutritional status. Cognitive function, nutritional status, and age were significantly associated with level of physical activity in elderly women. Conclusion: The results showed many older women were doing moderate physical activity. Physical activity was associated with cognitive function and nutritive conditions. Integrated health promotion program needs to be implemented to increase physical activity level, the cognitive function, and nutritive conditions in elderly women.

• 터널과지하공간
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• 제8권4호
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• pp.351-358
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• 1998

현장에서 측정된 절리 trace 길이에 의거하여 영속성을 산정할 수 있는 통계적 분석법을 개발하였다. 이 방법에서는 잠재적 키블록과 불연속면의 상대적인 규모에 따라 절리 trace 기링 또는 원형절리의 직경에 대한 확률밀도분포를 이용한다. 대규모 지하공동의 설계 및 안전적 굴착에 대한 개발된 분석법의 활용성을 설명하기 위하여 규모 및 영속성이 다른 잠재적 키블록의 안정성을 고찰하였다.

• 로봇학회논문지
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• 제14권4호
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• pp.237-244
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• 2019

This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

• 대한물리치료과학회지
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• 제10권2호
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• pp.42-52
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• 2003

An assessment of the subtalar joint in cerebral palsies can contribute to predict the function of ambulation in CP children. Ambulation is one of the most important function to guarantee the CP children independent life. This paper is to investigate some relationships between the function of standing and walling and the assessment of the subtalar joint in children with Cerebral palsy. And also to present the correlation between the ambulation and the Gross Motor Function Measures in children with cerebral palsy. Sixty-eight children with cerebral palsy were participated in this study. Evaluations of the subtalar pint parameters were performed by the goniometer and the angle finder, and the GMFM scores were measured by their teacher and researcher trained technically. A regression analysis was applied to figure out the relationship between the subtalar pint parameters(ROM and RCSP) and the function of standing and walking. A correlation analysis was employed to see how much the subtalar pint parameters could be predicted from GMFM scores in walling and standing. The results were as follows: 1) The significant differences were not observed between the total ROM, RCSP and the function of standing(F=8.065, p<.001) and walking(F=6.511, p<.001) in CP children. 2) The subtalar pint parameters(total ROM, RCSP) have the lower relevance to the function of standing and walling in CP children.(p>.05) 3) The total ROM and RCSP in both feet have the significant differences between the CP children and the normal children.(p<.001) 4) The GMFM scores were significantly correlated with the function of walling and standing in CP children.(r=247, p<.05) In this research, it is found that the significant relevance between the quantitative analysis of subtalar pint in children with cerebral palsy and the gross motor function of ambulation in standing and walling. However, it is difficult to predict the direct relationship of subtalar pint parameters and the function of ambulation, because subtalar pint scores and GMFM are only measured as quantities not qualities. Therefore, it is more reasonable to investigate the influence of subtalar pint parameters on ambulation in children with cerebral palsies, adding to the multifocal assessment of the children, rather than vice versa.

• 대한기계학회논문집
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• 제18권2호
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• pp.372-379
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• 1994

In this study, the describing function is adopted to represent nonlinearity in the system equations. The compliance can be obtained by solving nonlinear simultaneous algebraic quations for multi-degrees-of-freedom system with multinonlinearities. When the technique is applied, the nonlinearity of the system can be identified from the compliance which is obtained from the sinusoidal excitation of the system. By employing the describing function in the Building Block Analysis, we can extensively develop the BBA into investigation of the continuous systems with nonlinearities. The evaluated compliance can quantitatively show the effects of nonlinearity such as the transfer of the natural frequency, the variance of the compliance at the natural frequency, and the jump phenomena which occur during sweeping of the excitation frequency.

• 한국정밀공학회지
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• 제17권1호
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• pp.76-82
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• 2000

An arc sensor system to compensate positional errors was developed on the foundation of sensor interface system to make use of the on-line shift function of industrial welding robot. Investigating the on-line shift function, we examine the quantitative relationship between the deviation from programmed path and the correction data transferred from personal computer to robot controller. The number of input parameters for weld seam tracking can be reduced by making the relationship between the deviation and the correction data during half weaving be the function of only cross time. With the results of weld seam tracking for the butt joint with V-groove and fillet joint of sheet metal, good performance was implemented. By developing the sensor interface system to compensate the positional errors, industrial welding robot can be expected to contribute to the promotion of welding automation.