• 대한기계학회논문집
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• 제9권4호
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• pp.528-538
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• 1985

본 논문에서는 crank-rocker 운동에 의해 함수 y=sinx를 만족시키는 3차원 R-S-S-R 함수발생기구를 FDP(Fletcher-Davidon-Powell) 최적화 기법을 응용, 운동학적 으로 무오차점을 고려, 설계하려고 한다. 한편 상기와 같이 최적 설계된 기구의 실 제 운동과 요구된 운동과의 오차분석 및 운동 가능성 여부(mobility check)를 검토하 였으며 FDP 최적화 기법에 필요한 벌칙함수(penalty function)로써 Fiacco-McCormic- krhk Powell의 벌칙함수를 사용하여 그 결과를 비교하였다.

• 한국정밀공학회지
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• 제23권2호
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• pp.164-171
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• 2006

Anterior cruciate ligament(ACL) injury of the knee is common and a serious ACL injury leads to ligament reconstruction surgery. Gait analysis is used to identify the result of surgery. The purpose of this study is to numerically evaluate and classify knee condition of patients through the chaos analysis. Experiments were carried out for 13 subjects (8 healthy subjects, 5 ACL deficient patients) walking on a treadmill. Sagittal kinematic data of the right lower extremity were collected by using a 3D motion analysis system. The recorded gait patterns were digitized and then coordinated by KWON3D. The largest Lyapunov exponent from the measured knee angular displacement time series was calculated to quantify local stability. It was found that the Lyapunov exponent becomes larger as the knee condition becomes worse. This study suggested a method of the severity of injury and the level of recovery. The proposed method discerns difference between healthy subjects and patients.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.587-592
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• 2013

Until recently, the primary users of wheelchairs were people with lower body disabilities. However, the number of patients recovering from accidents or surgery, as well as the number of elderly people using wheelchairs, is constantly increasing. This study examined the design and manufacture of standing and gait assist wheelchairs that assist temporary gait disturbed patients to take rehabilitation training and elderly people to engage in walking exercise. A kinematic analysis was used to select a drive motor and design a four-bar linkage mechanism for lifting the backrest vertically. Using a multibody dynamic simulation, detailed design was performed taking into consideration the spatial motion and partial interference, and the necessary push force and stroke of the linear actuator were also calculated. To ensure structural safety, the von-Mises equivalent stresses of the upper and lower brackets of the linear actuator were verified through a finite element analysis. The manufactured wheelchair was shown to operate successfully as intended, using the developed controller for the drive motors and linear actuator.

• 한국산업융합학회 논문집
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• 제23권4_1호
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• pp.549-558
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• 2020

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

• 한국운동역학회지
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• 제16권2호
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• pp.65-73
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• 2006

The aim of this study was to find out the differences of Kinematics factors from touching down the vaulting board to landing when techniques of 1/1Turn and Tucked were performed on the old vaulting horse and on the new vaulting table. Three national representative men gymnasts were sampled for this study. Three dimension motion analyses by means of six Sony PD-150 video cameras with the velocity of 60 fps were used As a result of analyzing the kinematic data from two kind of vaulting table, the following conclusions were made. 1. The performing time from taking off the vaulting horse to landing(phase 4) in the 1/1 Turn technique on the new vaulting table was significantly longer than that of the old vaulting horse, while the time from contacting to taking off the vaulting horse on the new vaulting table was shorter than that of the old vaulting horse in both and the Tucked techniques. 2. The vertical release COG velocity was faster on the new vaulting table compare to the old vaulting horse in the all kind technique. However the horizontal release COG velocity of the 1/1 Turn technique was faster a little in the old vaulting horse compare to the new vaulting table.

• 한국운동역학회지
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• 제23권1호
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• pp.1-9
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• 2013

The purpose of this study was to provide information on athletes' characteristics and advantages and disadvantages by analyzing the kinematic factors having a decisive influence on competitive abilities such as release conditions in the delivery phase on major Korean javelin athletes. Two supported javelin throwers of the Korean national team participated in this study. The total average time required of the delivery phase was 0.31(${\pm}0.016$). The athletes' release angle was 33.2 to 41.7 degrees. The attack angle varied widely from -3.5 to 5.9 degrees. The Javelin heights of Subject A and B were 95.9 and 89.2%Ht. The average stride length were 180.6 and 176.7cm. The center of mass velocity of LFD and REL was relatively low in all the subjects. The average deceleration rates of center of mass velocity of Subject A and B were 57.2 and 48.9%lose. The left knee angles of Subject A and B were 160.1 and 155.5 degrees in LFD, 153.0 and 164.0 degrees in REL. The joint velocity of upper limb segments was relatively low in all the subjects. The maximum average wrist velocity of Subject A and B was 18.2 and 16.3 m/s in REL.

• 한국운동역학회지
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• 제23권1호
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• pp.11-17
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• 2013

The purpose of this study was to provide a fundamental information for enhancing 110m hurdlers' performance through conducting comparative biomechanical analysis between Skilled Group(SG) and Less-Skilled Group(LSG) those who are not in the first section of 110m hurdles. To persue the purpose of this study, total of 10 hurdlers participated. Then they were divided into two groups; SG: five hurdlers who have won awards with 14-second range at 2010 national track and field event, and LSG: five hudlers who did not win any awards with 15-second range. Three-dimensional motion analysis with 12 infrared cameras(Oqus 300, Qualisys) and 1 force plate(Type 9286AA, Kistler) was performed. From this study following conclusions were obtained. 1) For the overall runtime, SG revealed faster elapsed time than that of LSG. 2) At E4, LSG showed greater trunk angle than that of SG. 3) At E3 LSG revealed higher angular velocities than that of SG. 4) No significant differences was found for AP GRF between groups but LSG showed greater VGRF than that of SG.

• 대한의용생체공학회:의공학회지
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• 제30권3호
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• pp.205-212
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• 2009

This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.

• 대한조선학회지
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• 제23권2호
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• pp.1-13
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• 1986

The nonlinear hydrodynamic forces acting on a two-dimensional circular cylinder, oscillating with large amplitude in the free surface, are calculated by using the Semi-Lagrangian Time-Step-ping Method used by O.M. Faltinsen. In present calculation the position and the potential value of free surface are calculated using the exact kinematic and dynamic free surface boundary condition. At each time step an integral equation is solved to obtain the value of potential and normal velocity along the boundaries, consisting of both the body surface and the free surface. Some effort was devoted to the elimination of instability arising in the range of high frequency. Numerical simulations were performed up to the 3rd or 4th period which seems to be enough for the transient effect to die out. Each harmonic component and time-mean force are obtained by the Fourier transform of forces in time domain. The results are compared with others' experimental and theoretical results. Particularly, the calculation shows the tendency that the acceleration-phase 1st-harmonic component(added mass) increases as the motion amplitude increases and a reverse tendency in the velocity-phase 1st-harmonic component(damping coefficient). The Yamashita's experimental result also shows the same tendency. In general, the present result show relatively good agreement with the Yamashita's experimental result except for the time-mean force.

• 한국전문물리치료학회지
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• 제9권4호
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• pp.61-68
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• 2002

본 연구는 하퇴의지 착용자와 정상 성인간의 시간-거리, 운동형상학 변수를 조사하고 비교하기 위하여 실시하였다. 연구 대상자는 외상으로 인한 하퇴 절단자로서 내골격식 하퇴의지를 착용하고 독립적으로 보행이 가능한 20명과 연령, 신장으로 짝짓기한 대조군(matched control group) 20명이 참여하였다. 보행분석은 Vicon Clinical Manager Software (VCM)를 내장한 PC에 5개의 카메라가 연결되어 있는 Vicon 512 Motion Analysis System (MAS, Oxford Metrics Inc.)을 이용하였다. 하퇴의지 착용군의 단하지 지지시간이 정상 성인군에 비해 유의하게 짧았으며(p<.05), 하퇴의지 착용군에서 슬관절의 선전이 증가되었으며 족관절의 저측굴곡이 감소되었다(p<.05). 하퇴절단자들의 보행개선을 위해서는 하퇴절단자 개인의 보행능력에 알맞은 부품의 선택, 체계적인 보행훈련 및 평가, 보행능력 향상을 위한 근력강화 프로그램 등 체계적인 재활훈련 프로그램이 필요한 것으로 사료된다. 본 연구는 연구대상자의 수가 제한되어 있으므로 연구의 결과를 일반화하기에는 제한점이 있으나, 향후 편측 하퇴절단자의 보행연구에 대한 기초 자료로 사용될 수 있을 것이라고 생각된다.