• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• The KIPS Transactions:PartB
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• v.13B no.2 s.105
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• pp.187-196
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• 2006

In 3D animation most people adjust the moving motion of their characters on various terrains by using motion data acquired with the motion capture equipment. The motion data can be used to present real human motions naturally, but the data must be captured again to apply to the different terrains from those given at acquiring mode. In addition, there would be a difficulty when applying the data to other characters, in that case the motion data must be captured newly or the existing motion data must be heavily edited manually. In this paper we propose a unified method to generate human motions of walking and running for various terrains such as flat plane, inclined plane, stairway and irregular face. With these methods we are able to generate human motions controlled by the parameters : body height, moving speed, stride, etc. In the proposed methods, the positions and angles of joint can be calculated by using inverse kinematics, and we calculate the trajectory of the swing leg and pelvis according to the cubic spline. With these methods we were presented moving motions using a model of a human body.

• Clinics in Shoulder and Elbow
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• v.25 no.4
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• pp.265-273
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• 2022

Background: Massive rotator cuff tears (MRCTs) with subscapularis (SSC) tears cause severe shoulder dysfunction. In the present study, the influence of SSC tears on three-dimensional (3D) shoulder kinematics during scapular plane abduction in patients with MRCTs was examined. Methods: This study included 15 patients who were divided into two groups: supraspinatus (SSP) and infraspinatus (ISP) tears with SSC tear (torn SSC group: 10 shoulders) or without SSC tear (intact SSC group: 5 shoulders). Single-plane fluoroscopic images during scapular plane elevation and computed tomography (CT)-derived 3D bone models were matched to the fluoroscopic images using two-dimensional (2D)/3D registration techniques. Changes in 3D kinematic results were compared. Results: The humeral head center at the beginning of arm elevation was significantly higher in the torn SSC group than in the intact SSC group (1.8±3.4 mm vs. -1.1±1.6 mm, p<0.05). In the torn SSC group, the center of the humeral head migrated superiorly, then significantly downward at 60° arm elevation (p<0.05). In the intact SSC group, significant difference was not observed in the superior-inferior translation of the humeral head between the elevation angles. Conclusions: In cases of MRCTs with a torn SSC, the center of the humeral head showed a superior translation at the initial phase of scapular plane abduction followed by inferior translation. These findings indicate the SSC muscle plays an important role in determining the dynamic stability of the glenohumeral joint in a superior-inferior direction in patients with MRCTs.

• Korean Journal of Applied Biomechanics
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• v.33 no.4
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• pp.147-154
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• 2023

Objective: This study aimed 1) to compare the Landing Error Scoring System (LESS) score and movement patterns during landing of the lesser dorsiflexion range of motion (LDFROM) group to that with the greater dorsiflexion range of motion group, and 2) to identify the correlation between the weight-bearing dorsiflexion range of motion (WBDF ROM), LESS score, and movement patterns during landing. Method: Fifty health adults participated in this study. WBDF ROM was measured using the weight bearing lunge test while movement patterns during landing was assessed using the LESS. The joint angles of the ankle, knee and hip joints during landing were analyzed using the 2D video analysis. After mean value of WBDF ROM was calculated, participants were divided into two groups (GDFROM and LDFROM) based on the mean value. The Mann-Whiteny 𝒰 test was used to identify differences in movement strategies during landing between two groups and the Pearson's correlation analysis was performed to determine relationships between WBDF ROM and movement strategies. Results: The LDFROM group showed the poorer LESS score and stiffer landing kinematics during landing compared to the GDFROM group (p<0.05). In addition, DFROM was significantly related to the LESS score and landing kinematics (p<0.05) except for total hip excursion (p=0.228). Conclusion: Our main findings showed that the LDFROM group had poorer landing quality and stiffer landing movements compared to the GDFROM group. In addition, increase of WBDF ROM significantly improved landing quality and soft-landing movements. To reduce shock during landing such as ground reaction forces, individuals need to better utilize WBDF ROM and lower extremity movements based on our findings. Therefore, intervention programs for safer landings should include exercises that increase WBDF ROM and utilize eccentric contraction.

• The Journal of the Korean bone and joint tumor society
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• v.3 no.1
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• pp.18-25
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• 1997

Prosthetic replacement is one of the most common methods of reconstruction after resection of malignant tumor around the knee. Gait analysis provides a relative objective data about the gait function of patients with prosthesis. The purpose of this study was to compare the gait pattern of the patients who underwent limb salvage surgery with prosthesis for distal femur and that of patients with prosthesis for proximal tibia. This study included ten patients (4 males, 6 females, mean age 22.7 years, range 14-36) who underwent a wide resection and Kotz hinged modular reconstruction prosthesis replacement and six normal adult(Control). The site of bone tumor was the distal femur (Group 1) in six patients and proximal tibia (Group 2) in 4 patients. The follow-up period ranged from 15 to 82 months (mean : 33 months). The evaluation consisted of clinical assessment, radiographic assessment, gait analysis using VICON 370 Motion Analysis System. The gait analysis included the linear parameters such as, walking velocity, cadence, step length, stride length, stance time, swing time, single support and double support time and the three-dimensional kinematics (joint rotation angle, velocity of joint rotation) of ankle, knee, hip and pelvis in sagittal, coronal and transverse plane. For the kinetic evaluation, the moment of force (unit: Nm/kg) and power (unit: Watt/kg) of ankle, knee and hip joint in sagittal, coronal and transverse plane. In the linear parameters, cadence, velocity, step time and single support were decreased in both group 1 and group 2 compared with control. Double support decreased in group 2 compared with control significantly(p<.05). In contrast to our hypothesis, there was no significant difference between group 1 and group 2. In Kinematics, we observed significant difference (p<.05) of decreased knee flexion in loading response (G2

• Journal of Korean Orthopaedic Sports Medicine
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• v.2 no.2
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• pp.77-81
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• 2003

Purpose: The biomechanics and kinematics of knee joint were reviewed in this article. And then the common sports injuries were presented. Anatomy and Kinetics: None of the pairs of bearing surfaces in the knee joint is exactly congruent This allows the knee six degrees of freedom of motion. Tibiofemoral Kinematics: In flexion and extension, the axis of motion is not perpendicular to the medial-lateral plane of the joint, nor is it perpendicular to the axis of longitudinal rotation. This results in coupled varus angulation and internal rotation with flexion and in valgus angulation and external rotation with extension. Patellofemoral Articulation: Loads across the patellofemoral joint are indirectly related to the angle of knee flexion and directly related to the force generated within the quadriceps mechanism. Fractures of the Patella: Nonoperative treatment is indicated if the extensor mechanism is intact and if displacement of fragment is minimal. The specific type of internal fixation depends on the fracture pattern. It is important to repair retinaculum. Acute and Recurrent Patellar Instability: The degree of dysplasia and the extent of the instability play a large part in determining the success of nonoperative treatment. Patients who experience recurrent dislocations and patients with major anatomic variations require surgery to minimize their instability. Sports Injuries in School-age Atheletes: Patellar pain in young athletes groups a number of conditions, including Idiopathic Adolescent Anterior Knee Pain, Osgood- Schlatter Disease, and Sinding-Larsen-Johansson Disease.

• Korean Journal of Applied Biomechanics
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• v.17 no.4
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• pp.17-25
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• 2007

The purpose of the study is to give basic data for the improvement of the skill and to show an exemplary position for squash club members or trainers thru a comparative analysis on the kinematics and kinetics variables on the forehand drive motion in playing squash. The objects of the research are divided into two sections, skilled group(n=8) and unskilled group(n=8). The skilled group is composed of professional players currently working and unskilled group is career of six month, both of lives in B city. In this research, to gather the data 3D motion analysis and test result analysis using force platform was used. The variables are duration, position, segment velocity, segment acceleration and etc. in using force platform. The results are as follows: 1. The duration per phase of the skilled is 0.18sec P1(DS) while that of unskilled is 0.32sec. in P2(FT), the duration of the skilled is 0.29sec, that of unskilled is 0.34sec. Average of the duration of the skilled is 0.48sec, while the unskilled, 0.66sec. 2. Regarding positional movements per event, the unskilled has a relatively higher position in center of gravity, shoulder joint, elbow joint compared with that of the skilled. Generally speaking, positions of the unskilled is higher than the skilled. 3. In segment velocity per event, R-shank, R-upper arm, R-forearm and racket. The skilled is faster than the unskilled. we found a big dig difference in shank. 4. In acceleration per event, there was a big difference in upper-arm and fore-arm of the impact. 5. The skilled group on the force platform shows relatively stable and regular changes while the unskilled shows unstable from the touch down to initial 20% the force value of central support period after the impact moment decreases rapidly and the center of gravity is not moved well. 6. The maximum force value of the skilled is 1019.7N. it is found 19.86% of the total duration. That of the unskilled is 639.2N, it is found 20.67% of total duration.

• Journal of the Ergonomics Society of Korea
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• v.34 no.6
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• pp.583-595
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• 2015

Objective: The purpose of this study was to determine the reliability of lower limb joint angles computed with the software ImageJ during jumping movements. Background: Kinematics is the study of bodies in motion without regard to the forces or torques that may produce the motion. The most common method for collecting motion data uses an imaging and motion-caption system to record the 2D or 3D coordinates of markers attached to a moving object, followed by manual or automatic digitizing software. Above all, passive optical motion capture systems (e.g. Vicon system) have been regarded as the gold standards for collecting motion data. On the other hand, ImageJ is used widely for an image analysis as free software, and can collect the 2D coordinates of markers. Although much research has been carried out into the utilizations of the ImageJ software, little is known about their reliability. Method: Seven healthy female students participated as the subject in this study. Seventeen reflective markers were attached on the right and left lower limbs to measure two and three-dimensional joint angular motions. Jump performance was recorded by ten-vicon camera systems (250Hz) and one digital video camera (240Hz). The joint angles of the ankle and knee joints were calculated using 2D (ImageJ) and 3D (Vicon-MX) motion data, respectively. Results: Pearson's correlation coefficients between the two methods were calculated, and significance tests were conducted (${\alpha}=1%$). Correlation coefficients between the two were over 0.98. In Vicon-MX and ImageJ, there is no systematic error by examination of the validity using the Bland-Altman method, and all data are in the 95% limits of agreement. Conclusion: In this study, correlation coefficients are generally high, and the regression line is near the identical line. Therefore, it is considered that motion analysis using ImageJ is a useful tool for evaluation of human movements in various research areas. Application: This result can be utilized as a practical tool to analyze human performance in various fields.

• Physical Therapy Korea
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• v.10 no.1
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• pp.77-95
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• 2003

Many factors affect foot and ankle biomechanics during walking, including gait speed and anthropometric characteristics. However, speed has not been taken into account in foot kinematics and kinetics during walking. This study examined the effect of walking speed on foot joint motion and peak plantar pressure during the walking phase. Eighty healthy subjects (40 men, 40 women) were recruited. Maximal dorsiflexion and excursion were measured at the first metatarsophalangeal joints during walking phase at three different cadences (80, 100, and 120 step/min) using a three dimensional motion analysis system (CMS70P). At the same time, peak plantar pressure was investigated using pressure distribution platforms (MatScan system) under the hallux heads of the first, second, and third metatarsal bones and heel. Maximal dorsiflexion and excursion and excursion at the ankle joint decreased significantly with increasing walking speed. Peak plantar pressure increased significantly under the heads of the first of the first, second, and third metatarsal bones, and heel with increasing walking speed: three was no change under the hallux. There were no significant changes in maximal dorsiflexion or excursion at the first metatarsophalangeal joint. The results show that walking speed should be considered when comparing gait parameters. The results also suggest that slow walking speeds may decrease forefoot peak plantar pressure in patients with peripheral neuropathy who have a high risk of skin breakdown under the forefoot.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.25-34
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• 2012

The purpose of this study was to determine the effects of landing height on the lower extremity during a counter movement jump. Fourteen healthy male subjects (age: $27.00{\pm}2.94$ yr, height: $179.07{\pm}5.03$ cm, weight: $78.79{\pm}6.70$ kg) participated in this study. Each subject randomly performed three single-leg jumps after s single-leg drop landing (counter movement jump) on a force platform from a 20 cm and 30 cm platform. Paired t-test (SPSS 18.0; SPSS Inc., Chicago, IL) was performed to determine the difference in kinematics and kinetics according to the height. All significance levels were set at p<.05. The results were as follows. First, ankle and knee joint angles in the sagittal plane increased in response to increasing landing height. Second, ankle and knee joint angles in the frontal plane increased in response to increasing landing height. Third, there were no significant differences in the moment of each segment in the sagittal plane for the jumping height increment. Fourth, ankle eversion moment and knee valgus moment decreased but hip abduction moment increased for the jumping height increment. Fifth, Ankle and knee joint powers increased. In percentage contribution, the ankle joint increased but the knee and hip joints decreased at a greater height. Lastly, as jumping height increased, the power generation at the ankle joint increased. Our findings indicate that the height increment affect on the landing mechanism the might augment loads at the ankle and knee joints.