• 한국운동역학회지
• /
• 제18권4호
• /
• pp.135-142
• /
• 2008

본 연구는 9명의 피험자가 2주간 하루 6시간동안 후족부 경사각을 이용한 신발인 S사(社) 신발을 착용하여 보행하였으며 신발을 처음 신었을 때와 2주간 하루 6시간 이상 착용한 후의 데이터를 통해 기존의 운동화와 S사(社) 신발간의 비교를 수행하였다. 1. 기립자세에서의 S사(社) 신발의 착용 시 근전도의 활동인 증가하고 압력분포 중심 움직임은 약 60% 정도 증가하였다. 2. 피험자의 보행 시 S사(社) 신발을 착용하였을 때 신발의 힐 부부분의 $20^{\circ}$ 경사각으로 인해 heel strike 시 발목이 약 $14^{\circ}$ 정도 발등 쪽으로 굽혀짐을 확인하였으며 무릎에서는 이를 보완하기 위해 $2^{\circ}$ 정도 굴곡 됨을 보였다. 3. 이로 인해 최대 지면반력이 보다 빠르게 나타났으나 크기는 변하지 않았다. 4. S사(社) 신발의 착용하고 보행 시 지지기에서 발목과 무릎의 부하는 21-61%의 감소하는 결과를 나타내었다. 결과적으로 S사(社) 신발 착용시 목과 무릎각의 굴곡 각을 증가시켜 보행 시 몸이 곧게 서도록 하였다. 또한 보행 시 부하를 감소시킬 수 있음을 나타냈으나 2주간의 신발 착용으로 인한 신체의 변화는 나타나지 않음을 보였다.

• 한국정밀공학회지
• /
• 제31권10호
• /
• pp.913-922
• /
• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.

• 한국운동역학회지
• /
• 제24권3호
• /
• pp.277-285
• /
• 2014

Nakcyguri is one of the offensive weapons most often used in Taekkyon games, The purpose of this study was to investigate kinetic factors on two types of Nakcyguri, one of which uses hip bending and the other uses little it. 12 taekkyoners (males) who are the students of Y University participated in this study. They have been practicing on Taekkyon for five years or more. Positions of CoM, the elapsed time of each phase, ROM of joint and segment angles, ground reaction forces, joint moments of supporting leg were analyzed for this study. The results were as follows; in Nakcyguri with hip bending than without hip bending, anterior/posterior ROM of pelvis, head and swing foot were larger by flexing-extending more, and both vertical and posterior components of GRF were larger during phase 4. It was considered that hip bending produced posterior momentum as well as vertical momentum of trunk during Nakcyguri. In conclusion hip bending was essential and so useful to the successful attack.

• The Journal of Korean Physical Therapy
• /
• 제21권2호
• /
• pp.87-95
• /
• 2009

Purpose: This study reports the basic reference data of the specific gait parameters for Korean normal adults. Methods: The basic gait parameters were extracted from 73 Adults (35 men and 38 women), 18 to 33 years of age, using a Vicon MX motion analysis system. The segment kinetics, such as joint moment and power, was analyzed at the hip, knee and ankle. Results: The motion patterns are typically associated with a specific phase of the gait cycle. The temporal-spatial gait parameters of Korean normal adults, such as cadence, walking speed, stride length, single support and double support, were similar to the other western reference data. The kinetic parameters of Korean normal adults, such as joint moments of force, joint mechanical power generation or absorption and ground reaction forces, were also similar to other western reference datasets. Conclusion: This study demonstrates that objective gait analysis can be used to document the gait patterns of normal healthy adults. The techniques of 3-dimensional temporal-spatial gait parameters and kinematic parameters analysis can provide a detailed biomechanical description of a normal and pathological gait.

• 한국운동역학회지
• /
• 제25권2호
• /
• pp.191-198
• /
• 2015

Objective : The purpose of this study was to conduct biomechanical analysis of varying backpack loads on the lower limb movements during downhill walking over $-20^{\circ}$ ramp. Method : Thirteen male university students (age: $23.5{\pm}2.1yrs$, height: $175.7{\pm}4.6cm$, weight: $651.9{\pm}55.5N$) who have no musculoskeletal disorder were recruited as the subjects. Each subject walked over $20^{\circ}$ ramp with four different backpack weights (0%, 10%, 20% and 30% of body weight) in random order at a speed of $1.0{\pm}0.1m/s$. Five digital camcorders and two force plates were used to obtain 3-d data and kinetics of the lower extremity. For each trial being analyzed, five critical instants were identified from the video recordings. Ground reaction force, loading rate, decay rate, and resultant joint moment of the ankle and the knee were determined by the inverse dynamics analysis. For each dependent variable, one-way ANOVA with repeated measures was used to determine whether there were significant differences among four different backpack weight conditions (p<.05). When a significant difference was found, post hoc analyses were performed using the contrast procedure. Results : The results of this study showed that the medio-lateral GRFs at RHC in 20% and 30% body weight were significantly greater than the corresponding value in 0% of body weight. A consistent increase in the vertical GRFs as backpack loads increased was observed. The valgus joint movement of the knee at RTO in 30% body weight was significantly greater than the corresponding values in 0% and 10% body weight. The increased valgus moment of 30% body weight observed in this phase was associated with decelerating and stabilizing effects on the knee joint. The results also showed that the extension and valgus joint moments of the knee were systematically affected by the backpack load during downhill walking. Conclusion : Since downhill walking while carrying heavy external loads in a backpack may lead to excessive knee joint moment, damage can occur to the joint structures such as joint capsule and ligaments. Therefore, excessive repetitions of downhill walking should be avoided if the lower extremity is subjected to abnormally high levels of load over an extended period of time.

• Composites Research
• /
• 제28권4호
• /
• pp.191-196
• /
• 2015

본 연구에서는 접착제로 체결된 구조물의 접착 조인트에서의 파괴인성을 조사하기 위하여 알루미늄 폼으로 제작한 Mode III 형 DCB 시험편들에 대하여 정적 해석 및 실험을 수행하였다. 정적 해석에서의 경우, 각 시험편 모델들은 강제 변위가 약 5 mm 진행되었을 때 최대 반력을 보였으며, 이 때 각 시험편 모델들의 최대 반력은 두께가 35 mm인 모델이 약 0.25 kN, 두께가 45 mm인 모델이 약 0.28 kN, 두께가 55 mm인 모델이 약 0.5 kN으로 나타났다. 이 해석 결과들을 입증하기 위하여 정적 실험의 경우에서 두 개의 시험편들을 택하였다. 정적 실험에서의 경우, 각 시험편들은 강제 변위가 약 5~6 mm 진행되었을 때 최대 반력을 보였으며, 각 시험편들의 최대 반력은 두께가 35 mm인 시험편이 약 0.22 kN, 두께가 45 mm인 시험편이 약 0.3 kN으로 나타났다. 도출된 결과값들을 비교하였을 때 해석과 실험의 데이터들 간에 큰 차이가 없음을 알 수 있었고, 따라서 별도의 실험과정 없이 해석을 통해서도 그 연구 데이터들을 확보할 수 있을 것으로 판단되며, Mode III 형 DCB 접합구조물에서의 기계적 특성들을 체계적으로 분석할 수 있을 것으로 사료된다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2008년도 추계학술대회A
• /
• pp.1709-1712
• /
• 2008

The trunk is inclined to the loaded side when carrying an object as one of activities of daily living. As the reaction to this behavior the human body may be inclined to his/her trunk to unloaded side. The present study investigated the biomechanical effects of weight variation for sided load carriage during walking upon joint moments and muscle torques, through the tracker agent and joint driving dynamic analysis. To perform the experiment one male was selected as subject for the study. Gait analysis was performed by using a 3D motion analysis system. Thirty nine 14mm reflective markers, according to the plug-in marker set, were attached to the subject. We used BRG.LifeMOD(Biomechanics Research Group, Inc., USA), for skeletal modeling and inverse and joint driving dynamic simulation during one gait cycle. In walking with a sided load carriage, the subject modeled held the carriage with the right hand, which weighed 0, 5, 10, 15kg, 20kg respectively. The result of this simulation showed that knee and hip in the coronal plane were inclined to the loaded side and loaded side had larger moments as the sided load carriage was increased. On the other hand thoracic and lumbar in the coronal plane had larger negative values as the sided loaded carriage was increased. The thoracic and lumbar in the transverse plane also had larger values as the sided load was increased. And the several muscles of loaded side were increased as increasing sided load. It could be concluded that human body is adopted to side loaded circumstances by showing more biologic force. These results could be very useful in analysis for delivery motion of daily life.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1996년도 추계학술대회 논문집
• /
• pp.891-895
• /
• 1996

Performance and efficiency of hybrid (hydraulic-mechanical) pick-up device of deep sea manganese nodules collector are very sensitive to altitude and altitude of pick-up head relative to undulating seafloor. For this reason, motion control of pick-up head relative to the changing deep sea topography and other disturbances is of particular importance in design of pick-up device. The concept of design axiom is applied to a pick-up device of hybrid type. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pick-up 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.

• 한국정밀공학회지
• /
• 제15권3호
• /
• pp.68-74
• /
• 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.

• 한국정밀공학회지
• /
• 제18권5호
• /
• pp.137-146
• /
• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.