• Korean Journal of Applied Biomechanics
• /
• v.27 no.1
• /
• pp.35-43
• /
• 2017

Objective: The purpose of this study was to determine how gaze angle affects muscle activity and kinematic variables during treadmill walking and to offer scientific information for effective and safe treadmill training environment. Method: Ten male subjects who have no musculoskeletal disorder were recruited. Eight pairs of surface electrodes were attached to the right side of the body to monitor the upper trapezius (UT), rectus abdominis (RA), erector spinae (ES), rectus femoris (RF), bicep femoris (BF), tibialis anterior (TA), medialis gastrocnemius (MG), and lateral gastrocnemius (LG). Two digital camcorders were used to obtain 3-D kinematics of the lower extremity. Each subject walked on a treadmill with a TV monitor at three different heights (eye level; EL, 20% above eye level; AE, 20% below eye level; BE) at speed of 5.0 km/h. For each trial being analyzed, five critical instants and four phases were identified from the video recording. For each dependent variable, one-way ANOVA with repeated measures was used to determine whether there were significant differences among three different conditions (p<.05). When a significant difference was found, post hoc analyses were performed using the contrast procedure. Results: This study found that average and peak IEMG values for EL were generally smaller than the corresponding values for AE and BE but the differences were not statically significant. There were also no significant changes in kinematic variables among three different gaze angles. Conclusion: Based on the results of this study, gaze angle does not affect muscle activity and kinematic variables during treadmill walking. However, it is interesting to note that walking with BE may increase the muscle activity of the trapezius and the lower extremity. Moreover, it may hinder proper dorsiflexion during landing phase. Thus, it seems to reasonable to suggest that inappropriate gaze angle should be avoided in treadmill walking. It is obvious that increased walking speed may cause a significant changes in biomechanical parameters used in this study. It is recommended that future studies be conducted which are similar to the present investigation but using different walking speed.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.210-216
• /
• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• Korean Journal of Applied Biomechanics
• /
• v.27 no.2
• /
• pp.109-116
• /
• 2017

Objective: This study aimed to investigate the relationship between leg stiffness and kinematic variables according to load while running. Method: Participants included eight healthy men (mean age, $22.75{\pm}1.16years$; mean height: $1.73{\pm}0.01m$; mean body weight, $71.37{\pm}5.50kg$) who ran with no load or a backpack loaded with 14.08% or 28.17% of their body weight. The analyzed variables included leg stiffness, ground contact time, center of gravity (COG) displacement and Y-axis velocity, lower-extremity joint angle (hip, knee, ankle), peak vertical force (PVF), and change in stance phase leg length. Results: Dimensionless leg stiffness increased significantly with increasing load during running, which was the result of increased PVF and contact time due to decreased leg lengths and COG displacement and velocity. Leg length and leg stiffness showed a negative correlation (r = -.902, $R^2=0.814$). COG velocity showed a similar correlation with COG displacement (r = .408, $R^2=.166$) and contact time (r = -.455, $R^2=.207$). Conclusion: Dimensionless leg stiffness increased during running with a load. In this investigation, leg stiffness due to load increased was most closely related to the PVF, knee joint angle, and change in stance phase leg length. However, leg stiffness was unaffected by change in contact time, COG velocity, and COG displacement.

• Korean Journal of Applied Biomechanics
• /
• v.33 no.4
• /
• pp.137-146
• /
• 2023

Objective: The horizontal bar of gymnastics is fundamentally based on rotational movements. This study aimed to determine the effect of kinematics variables and sequence during horizontal bar performance (Kovacs, Tkatchev Stretched & Kolman) in gymnastic. Method: Four gymnastics athletes of the national team were participated in this study. All subjects were asked to perform the three types of horizontal bar skill. Simi marker-less cameras were used to collect the raw data (120 Hz). Kinematic variables (total time, interval, center of mass, height, angular velocity etc.) and sequence variables were calculated to examine the differences. Results: As a result, horizontal bar performance in gymnastic has special sequence that making the peak angular velocity from distal joint to proximal joint (knee-hip-shoulder). It is rare sequence that typical sport does not have. Conclusion: In field, gymnastic coaches and players should know the result that there is special sequence in horizontal bar performance. It could be very useful to teach and enhance their performance.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.5
• /
• pp.39-39
• /
• 2003

As the design rules in semiconductor manufacturing process become more and more stringent, the higher degree of planarization of device surface is required for a following lithography process. Also, it is great challenge for chemical mechanical polishing to achieve global planarization of 12” wafer or beyond. To meet such requirements, it is essential to understand the CMP equipment and process itself. In this paper, authors suggest the velocity distribution on the wafer, direction of friction force and the uniformity of velocity distribution of conventional rotary CMP equipment in an analytical method for an intuitive understanding of variation of kinematic variables. To this end, a novel dimensionless variable defined as “kinematic number” is derived. Also, it is shown that the kinematic number could consistently express the velocity distribution and other kinematic characteristics of rotary CMP equipment.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.5
• /
• pp.29-38
• /
• 2003

As the design rules in semiconductor manufacturing process become more and more stringent, the higher degree of planarization of device surface is required for a following lithography process. Also, it is great challenge for chemical mechanical polishing to achieve global planarization of 12” wafer or beyond. To meet such requirements, it is essential to understand the CMP equipment and process itself. In this paper, authors suggest the velocity distribution on the wafer, direction of friction force and the uniformity of velocity distribution of conventional rotary CMP equipment in an analytical method for an intuitive understanding of variation of kinematic variables. To this end, a novel dimensionless variable defined as “kinematic number” is derived. Also, it is shown that the kinematic number could consistently express the velocity distribution and other kinematic characteristics of rotary CMP equipment.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.10 no.6
• /
• pp.187-193
• /
• 2002

Since the bus is regarded as the one of the most public transportation systems, research on the safety and facilities of the bus has been increased actively in recent years. In this paper, we concern the design of the bus door mechanism that is composed of many linkages and actuators(or motors). In particular, the folding door mechanism is representative system installed in most of urban buses. To design the folding door mechanism, we construct the kinematic and dynamic analysis model fur computer simulation. Also, the dynamic analysis is accomplished by both direct dynamics and inverse dynamics. Since the folding door mechanism has many design variables, the analysis program is developed to perceive kinematic and dynamic characteristics according to the design variables and simulation conditions.

• Korean Journal of Applied Biomechanics
• /
• v.15 no.3
• /
• pp.133-142
• /
• 2005

The purpose of this study was to compare of the kinematic variables from takeoff preparation to takeoff used by long jumpers who recorded over 8meters in 2002 Busan Asian Game and 2003 Daegu Universiade and 2001 national championship. The kinematic characteristics from the last three stride to takeoff at the takeoff board were analyzed such as velocities, heights and angles. The conclusion were as follows; In order to record over 8meters the national long jumpers should have under 5cm height variation at the penultimate stride of the run-up. In the approach phase the horizontal velocity of the jumpers should reach to 10m/s in touchdown at takeoff board The vertical velocity must have 3.75m/s simultaneously in order to record 8meters. The jumpers need to continue talent of the horizontal velocity in touchdown at takeoff board and require jumping power of the takeoff leg at takeoff board The appropriate body variation range ratio between takeoff and touchdown should be 1.2 vs 1 and the trunk angle at touch down on the board should be close to the erect posture for higher body flight.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.8
• /
• pp.1206-1212
• /
• 2001

The kinematic analysis of Stewart platform manipulator(SPM) is carried out in order to reduce the calculation time for its forward kinematic solution when the iterative numerical method is employed. The kinematic equations for three substructures of the 6-3 SPM are newly derived by introducing Denavit-Hartenberg link parameters and using kinematic constraints associated with the SPM and substructure kinematics. It is shown that the forward kinematics can be easily solved from three nonlinear equations with three unknown variables only, leading to a great reduction in calculation time.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.51.5-51
• /
• 2001

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...