• Proceedings of the KSME Conference
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• 2003.04a
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• pp.929-934
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• 2003

Three dimensional joint motion data were obtained using precise magnetic sensors and X-ray. Six metal markers were inserted on the femur and the tibia to set the coordinate system. Two magnetic position sensors were used to record motion data and these positions were transformed into the knee motion. The quadriceps muscle was extended in an automatic manner by an extraction machine. Results of the knee motion were the same as the clinical data. The proposed method is found to be reasonable in describing the knee motion so that these motion data can be used to simulate the normal knee joint.

• The Journal of Korean Physical Therapy
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• v.28 no.5
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• pp.279-285
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• 2016

Purpose: This study was conducted to investigate the effects of joint mobilization and kinesio taping on pain, range of motion and knee function in patients with knee osteoarthritis. Methods: Thirty subjects were selected and divided into three groups: group 1 was treated with joint mobilization, group 2 was treated with kinesio taping and group 3 was treated with joint mobilization and kinesio taping. Joint mobilization was performed for 20 minutes three times a week for a period of 4 weeks, after which tape was applied for the same period of time and it was not exceeded 24 hours. Pain, range of motion and knee function were then assessed to identify the effectiveness. A visual analog scale (VAS) was used for pain assessment, while active and passive range of motion (AROM, PROM) were assessed using smart phones application, and knee injury and osteoarthritis outcome score (KOOS) was used to assess knee function. Results: After intervention, the joint mobilization group and kinesio taping group showed significant improvements in VAS, AROM, PROM and KOOS (Symptom, Pain, ADL, QOL), whereas no significant difference was found in sport/recreation. The joint mobilization with kinesio taping group showed significant improvements in all items, and a significant increase was found in AROM and PROM compared to the other two groups. Conclusion: We found that joint mobilization and kinesio taping effectively improved pain, range of motion and knee function in patients with knee osteoarthritis, but that application of joint mobilization with kinesio taping was most effective.

• Journal of the Korean Society of Physical Medicine
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• v.2 no.2
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• pp.113-124
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• 2007

Purpose : The purpose of this study was to investigate the effects of joint mobilization on the rang of motion and pain of patient with chronic low back pain. Methods : The subjects were consisted of thirty patients with chronic low back pain(19 females, 11 males ; mean aged 59.93) from 50 to 71. All subjects randomly assigned to the modalities treatment group, joint mobilization group. Modalities treatment group received hot pack used thermal therapy for 20minutes and ICT used electrical therapy for 15minutes, joint mobilization group received modalities treatment with sustained natural apophyseal glides(SNAGS) techniques of Mulligan for 10minutes per day and three times a week during 2 weeks period. Visual Analogue Scale(VAS) was used to measure subjective pain level. Remodified Schober test(RST) was used to measure range of motion of lumbar spine. All measurements of each patients were measured at pre-treatment and 2 weeks post-treatment. Results : The results of this study were summarized as follows : 1. VAS was joint mobilization group showed significantly decreased more than modalities treatment group (p<.05). 2. The lumbar flexion range of motion was joint mobilization group showed significantly decreased more than modalities treatment group(p<.05). 3. The lumbar extension range of motion was joint mobilization group showed significantly decreased more than modalities treatment group(p<.05). 4. The lumbar left lateral flexion range of motion was joint mobilization group showed significantly decreased more than modalities treatment group(p<.05). 5. The lumbar right lateral flexion range of motion was joint mobilization group showed significantly decreased more than modalities treatment group(p<.05). Conclusion : These data suggests that SNAGS of Mulligan is beneficial treatment for chronic low back pain.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.4
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• pp.756-765
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• 2001

An effective dexterous motion control method of redundant robot manipulators based on neural optimization network is proposed to satisfy multi-criteria such as singularity avoidance, minimizing energy consumption, and avoiding physical limits of actuator, while performing a given task. The method employs a neural optimization network with parallel processing capability, where only a simple geometric analysis for resolved motion of each joint is required instead of computing of the Jacobian and its pseudo inverse matrix. For dexterous motion, a joint geometric manipulability measure(JGMM) is proposed. JGMM evaluates a contribution of each joint differential motion in enlarging the length of the shortest axis among principal axes of the manipulability ellipsoid volume approximately obtained by a geometric analysis. Redundant robot manipulators is then controlled by neural optimization networks in such a way that 1) linear combination of the resolved motion by each joint differential motion should be equal to the desired velocity, 2) physical limits of joints are not violated, and 3) weighted sum of the square of each differential joint motion is minimized where weightings are adjusted by JGMM. To show the validity of the proposed method, several numerical examples are illustrated.

• The Journal of Korean Physical Therapy
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• v.29 no.4
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• pp.187-193
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• 2017

Purpose: The purpose of this study was to confirm the immediate effect of wrist joint mobilization with taping on the range of motion, grip strength, and spasticity. Methods: Thirty stroke patients were randomly divided into two groups: the joint mobilization with taping group (n=15) and a taping group (n=15). For measurement of spasticity and joint range of motion, the modified Tardieu scale, active and passive range of motion of wrist flexion, as well as extension were measured by the Rapael smart glove, and for grip strength measurement, grip dynamometer was performed. Results: The experimental group showed a significant improvement in the range of motion, grip strength, and spasticity after 10 minutes of taping (p<0.05), no significant difference was found in the control group (p>0.05). However, there was no significant difference between the two groups (p>0.05). Conclusion: The study found that wrist joint mobilization with taping has an immediate effect on wrist range of motion, grip strength, and spasticity in stroke patients, whereas it was not effective in the control group with just taping. The long-term change still needs to be evaluated, when taking into consideration of the carryover effect.

• Journal of The Korean Society of Integrative Medicine
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• v.5 no.1
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• pp.19-24
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• 2017

Purpose : The purpose of this study was to find out the difference motion of hip, knee and ankle joint during walking according to using walker on older people. Method : Korean older people of 34 subjects was participated in this study. Participants was measured joint motion on hip, knee and ankle joint during both conditions (walking with walker and without walker). The measured data were analyzed using independent t-test to investigate the difference of joint motion on the both condition. The statistical analyses were performed using Predictive Analytics Soft Ware (PASW) for windows(Ver. 19) and p-value less than .05 were considered significant for all cases. Result : The study showed that more joint motion on hip flexion and ankle pronation is increased by using walker. And hip extension, knee external rotation and ankle plantar flexion is decreased by using walker. Conclusion : This study suggest that using walker on older people was change the motion of the lower limb joint during walking. Therefore, It is necessary to develop a new walker that can reduce dependency and ensure stability on older people during walking.

• Physical Therapy Rehabilitation Science
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• v.11 no.4
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• pp.409-413
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• 2022

Objective: This study aims to compare the range of motion of the joints by applying the contraction and relaxation techniques used in manual therapy as electrical stimulation treatment. Based on this, we would like to propose the possibility of using motor nerve electrical stimulation therapy for musculoskeletal physical therapy. Design: Single-arm interventional study Methods: Active and passive straight leg raising tests were performed on 20 healthy men and women in their 20s to measure the angle of hip joint flexion. Then, the electrical stimulation time was set to 10 seconds and 5 seconds of rest, and motor nerve electrical stimulation of 1 Hz was applied with the maximum strength that could withstand the hamstring muscles for 10 minutes. After electrical stimulation, straight leg raising tests again to confirm the range of motion of the hip joint flexion. Results: As a result of this study, it was confirmed that the joint range of motion was significantly improved for both active and passive straight leg raising tests after application of motor nerve electrical stimulation(p<.05). Conclusions: With a strong electrical stimulation treatment of 1 Hz, the effect similar to the contraction and relaxation technique used in manual therapy was confirmed through the joint range of motion. In the future, motor nerve electrical stimulation therapy can be used for musculoskeletal physical therapy to provide a new approach for patients with reduced pain and joint range of motion due to muscle tension.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• Journal of Korean Foot and Ankle Society
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• v.14 no.2
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• pp.146-150
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• 2010

Purpose: Pilon fracture has several serious complications such as joint stiffness, arthrosis and delayed angular deformity. We report short-term results of new treatment modality using distracted dynamic external fixators and early controlled ankle motion. Materials and Methods: Eight cases of severe pilon fractures for which we tried small plate fixation and additional distracted dynamic external fixators from July 2007 to June 2009 were included. Half passive continuous ankle joint motion was allowed under free hinged ring fixators after the operation. The external fixators were removed after two or three months from the surgery. We investigated joint space by radiograph, joint pain, range of motion, patient's satisfaction of treatment protocol. Results: Joints were distracted when external fixators were applied and mean 28% of space loss developed after removal of external fixators. In most of cases, satisfactory alignments were maintained. Regarding range of joint motion, mean dorsiflexion angle was 15 degrees and mean plantarflexion angle was 32 degree in the condition of wearing external fixators. There was mean 8% reduction of range of motion but no further progression of ankle stiffness after removal of external fixators. Dorsiflexion was not improved after that, but plantarflexion angle was improved 10% even after removal of external fixators. Patients were generally in compliance with the treatment protocols with high level of satisfaction. Conclusion: We got good results with distracted dynamic external fixators and early continuous half-passive joint motion for pilon fractures in terms of joint pain and range of motion. Therefore we suggest this new protocol as an alternative modality for severe pilon fractures.

• Journal of the Korea Fashion and Costume Design Association
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• v.14 no.2
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• pp.75-87
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• 2012

This study aims at measuring and comparing the joint range of motion(ROM) of the elderly, quantitatively understanding the joint ROM and duration for their dressing and undressing of pants with 3D motion analysis equipment, and thereby providing basic data necessary for the future development of clothes carrying functional designs. The findings are as follows. As for the study method, the 9-item joint ROM measurements were conducted with goniometer, and the questionnaire analyses were carried out for t-test, ANOVA, and regression analysis with spss12.0 program. The 3D motion analyses were handled with 3D Motion Analysis Package Version 3.1 Program. The findings are as follows. First, the ROM was shown to be significantly low, as the arthritis-pain consciousness level was felt higher by the subject than the average one. Seven ROM variables, such as hip flexion, hip adduction, hip internal rotation, hip external rotation, knee flexion, ankle dorsiflexion, and ankle plantar flexion, were shown to significantly affect the discomfort level experienced at the time of dressing or undressing. Second, in the motion of inserting the remaining leg into the pant crotch part(3e), the difference of angles in the hip joint and knee joint was the largest between the women in their 20s and the elderly women with arthritis. Third.