• 대한족부족관절학회지
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• 제17권2호
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• pp.115-120
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• 2013

Purpose: Calcaneal lengthening osteotomy is one option for the treatment of symptomatic flexible flatfoot in adults. The aim of the study was to evaluate the short term clinical and radiologic results and analyze its complications. Materials and Methods: Twelve feet who had undergone calcaneal lengthening osteotomy without flexor digitorum longus transfer between December 2009 and July 2011 were included. The mean age was 40.6 years (23~75 years). The mean followup was 17.3 months (13~25 months). Clinical outcome were assessed using American Orthopadics Foot ans Ankle Society (AOFAS) score and visual analogue scale (VAS) for pain. Four radiologic parameters were measured from weightbearing radiographs to evaluate the difference between preoperatively and postoperatively measures. To analyze the complications, calcaneocuboid joint subluxation and degenerative change were measured postoperatively. Results: The mean AOFAS score improved from 55.3 points preoperatively to 82.2 points at lastest follow-up (p=0.000). The mean VAS improved from 6.3 points preoperatively to 3.2 points postoperatively (p=0.002).All radiologic parameters, the mean talonavicular coverage angle on AP view, the mean talo-1st metatarsal angle on AP and lateral view and the mean calcaneal pitch angle, significantly improved after calcaneal lengthening osteotomy. Nine feets (75%) were shown the degenerative change in the calcaneocuboid joint at latest follow-up radiographs. Conclusion: Calcaneal lengthening osteotomy for the symptomatic flexible flatfoot in adults produced significant improvement in clinical and radiologic parameters, but calcaneocuboid joint osteoarthritis occurred postoperatively remained a major problem.

• 대한물리의학회지
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• 제13권1호
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• pp.49-62
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• 2018

PURPOSE: This study investigated the influence of a specific hip joint exercise program on the characteristics of chronic low back pain (LBP), hip joint range of motion (ROM), and performance level in amateur golfers with LBP. METHODS: The study included 28 adult male amateur golfers with LBP and reduced internal rotation (IR) of the lead side hip joint. Subjects were randomly assigned to an experimental (EG) (n=14) or control group (CG) (n=14). The Numerical Rating Scale score for pain, ROM of the hip joint and trunk rotation, performance parameters for golfing were evaluated. A specific exercise program designed to improve IR of the lead side hip joint was performed by the EG, but not the CG. Post-intervention evaluation was performed and the collected data were analyzed. RESULTS: After the intervention, the severity of LBP was significantly reduced (p<.05) and the IR ROM of the lead side hip joint was significantly increased (p<.01) in the EG. Moreover, the trunk rotation range was significantly increased in the EG (p<.01). The drive distance was significantly difference between the EG and CG (p<.05). CONCLUSION: A specific hip joint exercise program can help to reduce pain level and improve performance level in amateur golfers with LBP and increased IR ROM of the lead side hip joint. A significant increase in ROM of the lead side hip joint reduce LBP and was related to driving distance in the EG.

• 한국기계가공학회지
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• 제16권2호
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• pp.81-87
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• 2017

The pipe connection process using a clamping ring is used for joining small pipes in the refrigerator and air-conditioner industries instead of the brazing process, which induces inevitable thermal deformation in the pipes. However, few studies have been carried out on the process to select optimal parameters in joining pipes, and studies on the relation between the process parameters of the connection and connecting force of the joint have not been conducted. In this study, the connection process of pipes with the clamping ring was modeled using the finite element method (FEM) and analyzed to obtain the contact stress distribution between the pipes with which the connecting force of the joint was estimated. Considering the characteristics of pipe connection, the process was modeled and simulated in a two-dimensional axisymmetric solution domain. With the numerical model, the effect of ring shape on the connection was studied by adding a projection to the end of a ring or changing the length of a ring. The results of the analyses revealed that the contact stress distribution could be predicted with the suggested model. The effect of the ring shape was also presented. The effect of any combination of process parameters could be easily estimated through the related analyses.

• 한국임상수의학회지
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• 제34권5호
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• pp.318-324
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• 2017

The objective of this study was to establish kinematic reference ranges for the femorotibial (FT) joint and the patellofemoral (PF) joint in healthy small-breed dogs by measuring 3D kinematics at the walk. Single-plane fluoroscopy was used to image the stifle joints of five healthy beagle dogs while the dogs were walking. 3D bone models of the femur, patella, and tibia were reconstructed by computed tomography scanning of the beagle dogs' hind limbs. The shape-matching technique was used to measure kinematic data from the fluoroscopic images and the 3D bone models. The cranial translation of the tibia during walking was inversely proportional to the FT joint flexion. There were significant correlations between the patellar motion and the tibial motion. The FT joint flexion had a strong correlation with the patellar proximodistal translation and flexion. Additionally, the tibial mediolateral translation had a strong correlation with the patellar shift and tilt. In this study, normal in vivo 3D FT joint and PF joint kinematics were demonstrated, and the average kinematic parameters were determined in walking beagle dogs.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1079-1088
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• 2002

Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• 로봇학회논문지
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• 제15권2호
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.334-339
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• 1994

In this work, we propose a planar three degree-of-freedom parallel mechanism as another type of assembly device which utilized joint compliances. These joint compliances can be adjusted either by properly replacing the joint compliances or by actively controlling stiffness at joints, in order to generate the desired operational compliance characteristics at RCC point, The operational compliance matrix for this mechanism is explicitly obtained by symbolic manipulation and its operational compliance characteristics are examined, it is found that the RCC point exists at the center of the workspace when the mechanism maintains symmetric configurations. Compliance characteristic and its sensitivity of this mechanism is analyzed with respect to the magnitude of the diagonal compliance components and two different matrix norms measuring compliance sensitivity. It is expected that the analysis results provide the designer with a helpful information to determine a set of optimal parameters of this RCC mechanism.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.243-248
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• 2002

In this paper, mobility of planar mobile robots is discussed. Firstly, simplified joint models for four typical wheels of the mobile robots are described including both rotational and translational friction parameters. Then, based on these joint models and through the inclusion of the additional imaginary joint particularly to the mobile robots which lack geometric generality, mobility analysis of various types of planar mobile robots is performed.

• Steel and Composite Structures
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• 제28권6호
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• pp.681-690
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• 2018

This paper highlights results of some experimental work that deals with strengthening of bolted shear joints in thin-walled ferrocement structure where steel wires, bent into U-shape are considered as simple inserts around the bolt hole. The parameters investigated include the number of layers of wire mesh, edge distance of bolt hole, size and location of the inserts. Test results have shown that for small edge distance, failure occurred either in cleavage or shearing mode, and the strength of the joint increased with an increase in the edge distance. This continued up to an upper limit set by either tension or bearing failure. The experimental study further revealed that for a given edge distance the strength of a joint can significantly be enhanced by using U-inserts. The equations developed for predicting joint strength in ferrocement composites can also be modified to include the effects of the inserts with a good level of accuracy.

• 한국방사선학회논문지
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• 제10권8호
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• pp.603-610
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• 2016

체중부하 상태에서의 족관절 검사 시 양측 족관절을 동시 촬영 했을 때와 편측 족관절을 나누어 각각 촬영 했을 때, 족관절염의 평가에 해당되는 측정값들의 변화에 대해 알아보고자 한다. 양측을 동시촬영 할 때, 다리를 모아 촬영하게 됨으로 Tibia axis축이 기울게 되고, 족관절의 external rotation으로 인해 족관절의 각도와 joint space의 왜곡이 발생하게 된다. 양측 족관절 동시촬영과 편측 족관절을 나누어 촬영한 영상을 PACS system 이용하여 족관절 평가에 이용되는 TAS, TT, TMM, JSW, Tibiotalar joint, Fibulotalar joint의 측정값을 구한 후 통계 분석 하였다. 각도 측정에 있어, 체중부하 양측 족관절 동시 촬영한 검사의 오른쪽 족관절의 TAS, TT, TMM 측정값은 $87.24^{\circ}$, $6.44^{\circ}$, $26.67^{\circ}$ 이였으며 편측을 나누어 촬영한 오른쪽 족관절의 TAS, TT, TMM은 $88.93^{\circ}$, $2.41^{\circ}$, $19.77^{\circ}$ 였다. 양측 족관절 동시촬영의 왼쪽 족관절 TAS, TT, TMM의 측정값은 $87.25^{\circ}$, $5.71^{\circ}$, $23.92^{\circ}$ 였으며 편측을 나누어 촬영한 왼쪽 족관절의 TAS, TT, TMM은 $88.75^{\circ}$, $3.19^{\circ}$, $21.45^{\circ}$ 였다. 양측 족관절을 동시촬영한 검사와 편측을 나누어 촬영한 족관절과의 비교 시, 양측을 동시 촬영한 검사에서 족관절 평가의 중증도 비율이 높게 나타났으며, 자세로 인한 측정값의 왜곡을 확인할 수 있었다. 반면 너비 측정에서 JSW, Tibiotalar joint는 검사 자세로 인한 측정값들 간의 유의성은 없었지만, Fibulotalar joint 의 양측 족관절 동시 검사에서 오른쪽 0.98mm 왼쪽 1.22mm 로 나타났고, 한쪽씩 촬영한 오른쪽 족관절에서는 1.6mm 왼쪽 1.22mm로 측정 자세로 인한 측정값의 유의한 차이를 보였다. 따라서 족관절염 평가를 위한 체중부하 족관절 검사시 양측을 동시에 검사하기 보다는 각각의 족관절을 나누어 촬영하는 것이 족관절염 평가값에 왜곡을 최소화 하며, 측정값의 정확성을 높일 수 있다.