• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.572-575
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1780-1783
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• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.32 no.5
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• pp.453-457
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• 2006

This study was designed to investigate the effect of intra-articular injection of hyaluronic acid for the treatment of internal derangements of the temporomandibular joint(TMJ). Sixteen patients with internal derangements of TMJ in 1 male and 15 females aged 68 to 18 years comprised the study material. The patients' complaint was limited mouth opening and pain during function. Patients were divided into 3 groups(articular disc displacement with reduction, articular disc displacement without reduction, osteoarthritis group). The preauricular area was disinfected anesthetized locally with 2% lidocaine hydrochloride. Arthrocentesis was performed. Hyaluronic acid(1.5 ㏄) was then injected into the superior compartment of the TMJ. Active range of motion exercises were instituted at approximately 24 hours postoperatively. Antibiotics and NSAID, three times daily by mouth, was prescribed for 3 days. Clinical evaluation of the patients was done before the procedure, immediately after the procedure, final follow-up visit postoperatively. Pain during function was assessed using visual analog scales(VAS). Maximal mouth opening was recorded as a distance between upper incisal edge and lower incisal edge. Intra-articular injection of hyaluronic acid caused significant reduction of pain during function, significant increase of maximal opening range. These findings suggest that intra-articular injection of hyaluronic acid is useful for decreasing patient reports of pain while increasing functional mobility of the mandible in internal derangements of the TMJ.

• The Journal of Pediatrics of Korean Medicine
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• v.27 no.4
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• pp.31-38
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• 2013

Objectives This study is to report a case that has an effective result to oligoarticular type juvenile idiopathic arthritis patient with the oriental medicine treatment. Methods We treated the patient with an oriental medicine and tapered down with the DMARDs and NSAIDs. We followed up the laboratory blood tests every four or five months and throughout the experiment. Results The symptoms of oligoarticular type juvenile idiopathic arthritis were vanished and the patient maintained her good health condition with oriental medicine treatment after discontinued all Disease-Modifying Antirheumatic Drugs (DMARDs) and NSAIDs (Non-Steroidal Anti-Inflammatory Drugs). Her ESR, CRP levels were stable in normal and other blood test results were back to normal range. Her joint mobility and condition was back to normal. Now she is in clinical remission status. Conclusions According to the result, the oriental medicine treatment is considered to be effective on the oligoarticular juvenile idiopathic arthritis and further studies will be needed with more cases.

• Archives of Reconstructive Microsurgery
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• v.9 no.1
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• pp.56-61
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• 2000

Recommendable reconstructive surgery in the patient with thumb amputation through base of the first metacarpal bone is pollicization. Some patients who do not agree with harvest sound finger as a new thumb, we can consider other options as toe transplantation or osteoplastic thumb reconstruction for creating thumb. Toe transplantation to the thumb is effective procedure in the amputation of distal to metacarpal shaft, it is rarely indicated in the cases of proximal to base of the first metacarpal bone. We performed three cases of modified osteoplastic thumb reconstruction with free vascularized rib that combined with scapular free flap or radial forearm flap. The length of transplanted rib ranged from 7~11cm, the donor vessels are posterior intercostal artery and vein which anastomosed to radial artery. The grafted rib wrapped with additional free flap for creating new thumb. Result of that procedure was not much encouraging, aesthetic appearance and mobility of thumb were not so satisfactory but reconstructed thumb gave improvement of the hand function without sacrificing toe or other digit. That gave reasonable stability for powerful side pinch and three pod pinch and opposable thumb with normal carpo-metacarpal joint motion that can give much function to the thumb absent hand. In spite of those disadvantages, thumb reconstruction with rib transfer can be useful for patients who do not want to lose another part of the body for creating thumb in basal amputation of the thumb metacarpal.

• Archives of Reconstructive Microsurgery
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• v.15 no.1
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• pp.33-37
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• 2006

Purpose: The aim of this study was to evaluate the efficacy of lateral middle phalangeal finger flap for pulp and palmar defect of the finger. Materials and methods: We performed the lateral middle phalangeal finger flap in thumb pulp defect 4 cases and the palmar defect of other finger 3 cases. Mean age was 38(25-53) years old and there were male 6 cases and female 1 case. Sensate flap was performed in 4 cases of thumb pulp defects. Mean follow-up period was 14(7-22) months. Results: All flaps were survived. Mean static two-pint discrimination of sensate flap 4 cases was 8(6-10) mm. The sensation of donor finger tip was normal in all cases. Limitation of range of motion of the donor fingers was absent. Patients complained of transient cold intolerance 1 month after surgery but didn't complain of that in all cases at last follow-up. Conclusions: The advantages of the lateral middle phalangeal finger flap are the preservation of the ipsilateral palmar digital nerve, good sensory reconstruction of the fingertip, well maintained donor finger mobility with minimal exposure of the extensor tendon, cosmetically good appearances of donor finger, and easy raising as a large flap. So we suggest that this flap is versatile for reconstructing of relatively large pulp defect of the thumb and the palmar defects involving the joint of finger.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.68-74
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• 1998

Performance and efficiency of deep seabed collector is a primary factor for feasibility of commercial deep ocean mining. The efficiency of manganese nodules collector depends on vehicle mobility relative to undulating seafloor and is attributed pickup head to keep altitude and elevation of it against seafloor. For this reason, motion control of pickup head relative to the changing deep-sea topography and other disturbances is of particular importance in design of pickup device. The concept of design axiom is applied to a pickup device of hybrid type in order to evaluate the concept design. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pickup head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• Archives of Plastic Surgery
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• v.39 no.4
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• pp.291-300
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• 2012

The incidence of condylar fractures is high,but the management of fractures of the mandibular condyle continues to be controversial. Historically, maxillomandibular fixation, external fixation, and surgical splints with internal fixation systems were the techniques commonly used in the treatment of the fractured mandible. Condylar fractures can be extracapsular or intracapsular, undisplaced, deviated, displaced, or dislocated. Treatment depends on the age of the patient, the co-existence of other mandibular or maxillary fractures, whether the condylar fracture is unilateral or bilateral, the level and displacement of the fracture, the state of dentition and dental occlusion, and the surgeonnds on the age of the patient, the co-existence of othefrom which it is difficult to recover aesthetically and functionally;an appropriate treatment is required to reconstruct the shape and achieve the function ofthe uninjured status. To do this, accurate diagnosis, appropriate reduction and rigid fixation, and complication prevention are required. In particular, as mandibular condyle fracture may cause long-term complications such as malocclusion, particularly open bite, reduced posterior facial height, and facial asymmetry in addition to chronic pain and mobility limitation, great caution should be taken. Accordingly, the authors review a general overview of condyle fracture.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.278-284
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• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• Journal of Korean Dental Hygiene Science
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• v.4 no.1
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• pp.53-64
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• 2021

Background: The elderly in long-term care facilities tend to have a diminished oral health status, with a high prevalence of dental caries and periodontal disease, as reduced cognitive function, joint mobility, and gait ability hinder the performance of oral hygiene. To improve the oral health of the elderly at long-term care facilities, it is necessary to have precise guidelines for oral health care and assessment; however, such guidelines are not readily available. Therefore, the present study aimed to develop an oral care assessment tool with verified reliability and validity. Methods: The participants in this study were 100 elderly patients at a care facilities and 10 clinical dental hygienists. Collected data were analyzed using the descriptive statistics, content validity index, and inter-rater reliability, as well as the analyses of intra-class correlation coefficient. Results: After a review of relevant literature, a preliminary questionnaire comprised of seven questions related to the evaluation of oral health was formed. After revising and supplementing the questions through a content validity test, a total of nine questions were selected. Conclusion: The novel assessment tool developed for the present study is anticipated to allow analyses of the level of problems related to oral health care before routine and professional care. Moreover, regular oral health status check-ups will enable the early diagnosis and treatment of diseases.