• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.2 no.1
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• pp.39-49
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• 1996

The techniques of joint mobilization and traction are used to improve joint mobility or to decrease pain by restoring accessory movements to the shoulder joints and thus allowing full, nonrestriced, pain-free range of motion. In the glenohumeral joint, the humeral head would be the convex surface, while the glenoid fossa would be the concave surface. The medial end of the clavicle is concave anterioposteriorly and convex superioinferiorly, the articular surface of the sternum is reciprocally curved. The acromioclavicular joint is a plane synovial joint between a small convex facet on lateral end of the clavicle and a small concave facet on the acromion of the scapula. The relationship between the shape of articulating joint surface and the direction of gliding is defined by the convex-concave rule. If the concave joint surface is moving on a stationary convex surface, gliding occur in the same direction as the rolling motion. If the convex surface is moving on a stationary concave surface, gliding will occur in an opposite direction to rolling. Hypomobile shoulder joint are treated be using a gliding technique.

• The Academic Congress of Korean Shoulder and Elbow Society
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• 1995.03a
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• pp.9-13
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• 1995

1. The static restraints are improtant in maintaining balance between shoulder mobility and stability. But the shoulder musculature plays the vital role in moving the joint and providing stability. 2. Study of the dynamic restraints continues and study of the combined effect of the static and dynamic restraints is demanded.

• Journal of the Korean Society of Clothing and Textiles
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• v.31 no.3 s.162
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• pp.343-350
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• 2007

This study compared and studied the clothing mobility of two types of aerobic clothes - those made of currently popular stretch materials and those made of new stretch materials that were specially developed for this study. The focus of the comparison was on the range of joint movement during activity, and the physiological burden imposed on the body by the clothes. In total, 18 experiments were carried out under controlled conditions in an artificial climatic chamber with a temperature of $25{\pm}1^{\circ}C$, air humidity of $60{\pm}5^{\circ}C$ and negligible air movement. Each exercise program consisted of a 30-minute of aerobic workout and a 20-minute rest following the exercise. Measurements were taken to determine the following: physiological reactions (whole-body and local sweat rates), subjective sensations(of temperature, humidity, comfort, tightness, and clothing wetness), joint angle(measured with a goniometer), and so on. The results of the study us as follows: Material B excels in clothing mobility. Material C excels in sweat absorbency and drying speed. Material A was found to be the hottest material, while material C was found to be slightly hot through the analysis of the change in pre- and post-exercise bodyweight(= amount of sweat). Regarding the amount of evaporated sweat, material A>material C>material B. Material B produced the smallest amount of evaporated sweat. The wider the range of joint movement, the smaller the amount of sweat and the lower the average skin temperature.

• Journal of the Korean Society of Physical Medicine
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• v.14 no.2
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• pp.41-51
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• 2019

PURPOSE: This study was conducted to investigate the effects of combined Joint Mobilization and Functional Electrical Stimulation on Muscle Activation and Mobility of ankle joints in stroke patients and their Modified Functional Reach Test (MFRT) results. METHODS: A total of 26 patients with stroke were randomly selected for enrollment in this study. (1) Functional Electrical Stimulation (FES) (2) combined Joint Mobilization and FES. An EMG system was used to measure tibialis anterior and gastrocnemius activities. Range Of Motion (ROM) of Ankle Joint and MFRT for Dynamic Balance. Pre and post intervention results were compared by paired-t-tests and differences in changes after intervention between groups were identified by the independent t-test. RESULTS: The muscle activation, ROM, and MFRT differed significantly in the experimental group (p<.05). The ROM was significantly different for the active dorsiflexion pre and post intervention in the group that received FES alone (p<.05). CONCLUSION: The results of this study suggest use of a systematic program of proactive posture control to prevent dysfunction when planning interventions for ankle joints can help stroke patients walk efficiently.

• Physical Therapy Korea
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• v.15 no.1
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• pp.61-68
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• 2008

The aim of the study was to evaluate the effect of a disease-specific exercise (DSE) on temporomandibular joint (TMJ) function and neck mobility in TMJ dysfunction associated with ankylosing spondylitis (AS). Ten AS patients (seven males and three females) with TMJ dysfunction were recruited for this study. The DSE included exercises to correct head and neck posture and to improve the flexibility of the neck and TMJs. The patients attended treatment three times a week for 4 weeks, averaging 1 hour each session. Assessments were performed pretreatment, posttreatment, and 6 weeks after the completion of treatment. General physical status was assessed by four clinical measures (tragus-to-wall distance, modified Schober test, lumbar side flexion, and intermalleolar distance), the Bath ankylosing spondylitis function index (BASFI), and the Bath ankylosing spondylitis disease activity index. The main outcome measures included TMJ function (craniomandibular index (CMI)), and neck mobility (flexion, extension, rotation, and lateral rotation). None of the measures of general physical status, with the exception of BASFI, were significant1y different between the pretreatment, posttreatment, and 6-week follow-up (p>.05). However, CMI and all neck movements, except for extension, significant1y improved after the treatment (p<.05). These improvements were maintained during the follow-up period. The DSE used in the present study seems to be a clinical1y useful method for managing patients with symptoms from the stomatognathic system in AS. Further studies with more subjects and longer treatment times, including the follow-up period, will be conducted to validate these findings.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.704-708
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• 2004

The RMD(Rehabilitation Medicine Device) with CJM(Compound Joint Motion) is the lower limb unit muscular strengthening promotion rehabilitation medicine device for patients of joint orthopedic operation or the deficient elder of ability to walk, the handicapped. Since the products for the rehabilitation medicine device have limited to the simplicity linear motion, those do not give efficient the lower unit muscular strengthening effects. This device which was under the development gives to exercise of hip joint and knee joint with user's selection at once, get out of the simplicity linear motion. Also it will be contributed to a field of rehabilitation medicine and a mobility aid technology of the deficient elders of ability to walk, the handicapped.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.182-189
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• 2005

The human knee joint is the intermediate joint of the lower limb that is the largest and most complex joint in the body. Understanding of joint-articulating surface motion is essential for the joint wear, stability, mobility, degeneration, determination of proper diagnosis and so on. However, many studies analyzed the passive motion of the lower limb because of the skin marker artefact and some studies described medial and lateral condyle of a femur as a simple sphere due to the complexity of geometry. Thus, in this paper, we constructed a three-dimensional geometric model of the human knee from the geometry of its anatomical structures using non-uniform B-spline surface fitting as a study for the kinematic analysis of more realistic human knee model. In addition, we developed and verified 6-DOF contact model of the human knee joint using $C^2$ continuous surface of the inferior region of a femur, considering the relative motion of shank to thigh during locomotion.

• Physical Therapy Rehabilitation Science
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• v.11 no.2
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• pp.269-278
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• 2022

Objective: The aim of this study was to evaluate the effects on pain and function of patients with rotator cuff tendinopathy when applying trigger point of infraspinatus and teres minor to myofascial trigger point release (MFR) plus mobility exercise and MFR. Design: A randomized controlled trial. Methods: The total participants were 30patients and were separated to MFR plus mobility exercise group(n=15) and MFR group (n=15) according to the randomized treatment method. The MFR was performed at two infraspinatus tampon points and one teres minor tampon point for twice a week for 4 weeks and the treatment time was 6 minutes 20 seconds in each position. The MFR group also carried out the myofascial trigger point release in the same way as the MFR plus mobility exercise group. Results: The MFR plus mobility exercise group significantly reduced objective and subjective pain (p<0.05). The range of motion of the shoulder joint flexion and external rotation, Quick-Disability of the Arm, shoulder and Hand, and Shoulder Pain and Disability Index were significantly improved in the group to which MFR plus mobility exercise was applied (p<0.05). Conclusions: These results confirmed that MRF plus mobility exercise is more effective in relieving shoulder pain and improving function in rotator cuff tendinopathy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.3
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• pp.285-297
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• 2016

In this paper, a centralized mmWave-based multi-spot beam cellular system architecture having such a base station equipped with a plurality of beam-forming antennas, multi-layered dynamic cell configuration method as one of key concepts of this system operation and a mobility management method based on it are introduced. To estimate the performance of new system, system simulation was performed under the ideal environment without blockage. These results show the possibility that system capacity can be dramatically increased and mobility performance similar to the existing cellular system may be achieved.