• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.407-412
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• 2015

This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.

• Korean Journal of Applied Biomechanics
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• v.25 no.3
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• pp.275-281
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• 2015

Objective : In order for Taekwondo athletes to perform destructive kicking performance, they are expected to have Taekwondo-specific muscle properties such as high muscle strength and power. The purpose of this study was to investigate the joint angle-dependent force-producing property of Taekwondo athletes' knee extensor muscles, which is one of the primary muscle groups involved in kicking performance. Method : Ten Taekwondo male athletes (age: $19.9{\pm}0.7yrs$, height: $180.6{\pm}6.2cm$, body mass: $75.9{\pm}8.9kg$, career: $9.2{\pm}2.9yrs$.) and 10 healthy male non-athletes (age: $26.3{\pm}2.6yrs$, height: $174.2{\pm}4.8cm$, body mass: $72.8{\pm}7.7kg$) participated in this study. Subjects performed maximum isometric knee extension at knee joint angles of $40^{\circ}$, $60^{\circ}$, $80^{\circ}$, and $100^{\circ}$ (the full knee extension was set to $0^{\circ}$) with the hip joint angles of $0^{\circ}$ and $80^{\circ}$ (the full extension was set to $0^{\circ}$). During the contractions, knee extension torque using an isokinetic dynamometer simultaneously with muscle activities of the rectus femoris (RF), and the vastus lateralis (VL) and vastus medialis (VM) using surface electromyography were recorded. Based on the torque values at systematically different knee-hip joint angles, the joint torque-angle relationships were established and then the optimal joint angle for the knee extensor was estimated. Results : The results of this study showed that the isometric knee extension torque values were greater for the Taekwondo athletes compared with the non-athlete group at all hip-knee joint angle combinations (p<.05). When the hip joint was set at $80^{\circ}$, the peak isometric torque was greater for the Taekwondo athletes compared with the non-athlete group ($313.61{\pm}36.79Nm$ and $221.43{\pm}35.92Nm$, respectively; p<.05) but the estimated optimum knee joint angles were similar ($62.33{\pm}5.71^{\circ}$ and $62.30{\pm}4.67^{\circ}$ for the Taekwondo athletes and non-athlete group, respectively). When the hip joint was set at $0^{\circ}$, the peak isometric torque was greater for the Taekwondo athletes compared with the non-athlete group ($296.29{\pm}45.13Nm$ and $199.58{\pm}25.23Nm$, respectively; p<.05) and the estimated optimum knee joint angle was larger for the Taekwondo athletes compared with the non-athlete group ($78.47{\pm}5.14^{\circ}$ and $67.54{\pm}5.77^{\circ}$, respectively; p<.05). Conclusion : The results of this study suggests that, compared with non-athletes, Taekwondo athletes have stronger knee extensor strength at all hip-knee joint angle combinations as well as longer optimum muscle length, which might be optimized for the event-specific required performance through prolonged training period.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.8 s.197
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• pp.130-137
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• 2007

The optimized prosthetic mass distribution was a controversial problem in the previous studies because they are not supported by empirical evidence. The purpose of the present study was to evaluate the effect of prosthetic mass properties by modeling musculoskeletal system, based on the gait analysis data from two above-knee amputees. The joint torque at hip joint was calculated using inverse dynamic analysis as the mass was changed in knee and foot prosthetic components with the same joint kinematics. The results showed that the peak flexion and abduction torque at the hip joint were 5 Nm and 15 Nm when the mass of the knee component was increased, greater than the peak flexion and abduction torque of the control group at the hip joint, respectively. On the other hand, when the mass of the foot component was increased, the peak flexion and abduction torque at the hip joint were 20 Nm and 15 Nm, greater than the peak flexion and abduction torque of the control, respectively. The hip flexion torque was 4.71-fold greater and 7.92-fold greater than the hip abduction torque for the knee mass increase and the foot mass increase on the average, respectively. Therefore, we could conclude that the effect of foot mass increase was more sensitive than that of knee mass increase for the hip flexion torque. On the contrary, the mass properties of the knee and foot components were not sensitive for the hip abduction torque. In addition, optimized prosthetic mass and appropriate mass distributions were needed to promote efficiency of rehabilitation therapy with consideration of musculoskeletal systems of amputees.

• Journal of Korean Physical Therapy Science
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• v.9 no.3
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• pp.67-75
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• 2002

The purpose of this study was to evaluate the effects of quadriceps femoris flexibility exercise which would improve the degree of knee flexion range of motion, extension torque, and the activities of daily living (ADL) in elderly subjects with degenerative knee arthritis. Fourteen elderly patients (two men and twelve women) with degenerative knee arthritis participated and had a quadriceps femoris flexibility exercise intervention program in this study. The mean age of the patients was 70.00 years for men and 71.16 years for women. This study carried out the experimental study of one group pretest-posttest design, which evaluated the degree of knee flexion range of motion, extension torque, the ADL ability of the patients before and after applying the exercise intervention for five weeks. The results of this study are as follow: 1. The knee flexion ranges of motion of the patients were measured before and after the intervention and the ranges increased significantly both in the left and right knee flexion range of motion (p < 0.05). 2. The peak torque of the knee muscle, the peak torque/body weight, and average power of the patients showed significant increases in both in the left and right knee after applying the intervention (p < 0.05). 3. The intervention produced a significant reduction in pain of the patients (p < 0.05). Their functional activities of ADL improved significantly compared with before the intervention (p < 0.05). It has been shown that the quadriceps femoris flexibility exercise intervention program increased significantly the knee flexion range of motion, and extension torque, as well as an increase in performance of functional activities of ADL of the patients. Thus, the quadriceps femoris flexibility exercise should be considered as one of the therapeutic exercises for the elderly patients with degenerative knee arthritis applied.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.8 no.2
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• pp.31-43
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• 2002

The subjects of this study were 15 woman soccer players and 15 untrained woman students at H-Cheju University. Each subject was measured on the muscle strength and peak torque of knee extensors and knee flexors with isokinetic load ($60^{\circ}$/sec, $180^{\circ}$/sec). The results were as follows: 1. There was no significant difference between right and left leg strength measured isokinetically in each group. 2. The peak torque of knee extensors and flexors was significantly higher in scoccer players than untrainded students (p<0.001). 3. For the angle of knee joint showing the highest peak torque, there was significant difference between soccer players and untrained students in knee extensors(p<0.05) and right flexors (p<0.01). 4. For knee H/Q ratio, there was significant difference between two groups(p<0.05). 5. For the total work and average power at $180^{\circ}$/sec, there was significant difference between two groups in knee extensors(p<0.001) and flexors(p<0.01). 6. In soccer players at $60^{\circ}$/sec, there were significant correlations between peak torque and height and between peak torque and weight.(p<0.001). 7. For the muscular contraction velocity at $60^{\circ}$/sec, there was significant difference between two groups in flexors (p<0.01). 8. For the muscular indurance at $180^{\circ}$/sec in extensors and flexors, there was no significant difference between two groups(p<0.05). In conclusion, there were significantly higher in peak torque, contraction velocity, knee joint's angle with the highest peak torque, H/Q ratio, total work and average power in woman scoccer player than general students. But there was no significant difference in muscular endurance. Soccer performance is based on the various components including muscular endurance that is one of the most important components. So it is necessary that the training method to improve the various components (especially including muscular endurance) should be done.

• Journal of Korean Physical Therapy Science
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• v.6 no.4
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• pp.229-240
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• 1999

I examined the isokinetic knee extension mean torque in 30 patients with hemiplegia and 30 healthy subjects matched by age, sex, height, and weight at knee extension velocities of $30^{\circ},\;60^{\circ},\;90^{\circ}$, and $120^{\circ}$/sec. The purpose of this study is as follows: first, to compare isokinetic data between the involved and uninvolved side of patients and healthy subjects. secondly, to determine whether the relative decreases in knee extension mean torque at velocities greater than $30^{\circ}$/sec were different on the two sides. Mean torque of quadriceps on both sides of patients with hemiplegia was significantly less than the mean torque of muscle of healthy subjects at various speeds. Relative decreases in knee extension mean torque differed between speeds, but not between sides. Torque at speed greater than $30^{\circ}$/sec were correlated significantly with the torque at $30^{\circ}$0/sec. These finding indicated that isokinetic testing can provide objective information about quadriceps muscle performance in hemiplegia, and suggested that hemiplegia may have difficulty in moving forcefully at higher speeds than $30^{\circ}$/sec because they are weak. Therapeutic intervention, therefore, might be most beneficial when they are directed toward helping patients with hemiplegia activate their muscle weakness.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.2
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• pp.47-57
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• 2013

Purpose : The purpose of this study was to compare the Effects of Knee Extensor, Flexor Muscle Strength and Joint Position Sense in Squat Exercise on Variety Surface. Method : Subjuects were consisit of 30 male and female who had non disorder knee joint. we had devided 3 group(control group, balance pad group, and togu group) and we measured that knee joint $15^{\circ}/45^{\circ}$proprioception(position sense) and Peak Torque of knee extensor, flexor muslce at $60^{\circ}/sec$, $180^{\circ}/sec$ angular velocity. Result : First, knee joint $15^{\circ}$proprioception(position sense) of balance pad and togu group was significantly different after exercise(p<.05), but only balance pad group was significantly different at knee joint $45^{\circ}$. Second, knee extensor Peak Torque of balance pad and togu group was significantly different at $60^{\circ}/sec$, $180^{\circ}/sec$ angular velocity(p<.05). Third, knee flexor Peak Torque of balance pad and togu group was significantly different at $60^{\circ}/sec$, $180^{\circ}/sec$ angular velocity(p<.05). Conclusion : Squat exercises on the balance pad and togu were affects knee joint proprioception and muscle strength improvement. These results suggest that squat exercise on the unstable surface is effective for prevention of knee joint injury and functional activity.

• Smart Structures and Systems
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• v.17 no.2
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• pp.275-296
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• 2016

This paper focuses on developing a new configuration on magnetorheological (MR) brake damper as prosthetic knee. Prosthetic knee uses magnetic fields to vary the viscosity of the MR fluid, and thereby its flexion resistance. Exerted transmissibility torque of the knee greatly depends on the magnetic field intensity in the MR fluid. In this study a rotary damper using MR fluid is addressed in which a single rotary disc will act as a brake while MR fluid is activated by magnetic field in different walking gait. The main objective of this study is to investigate a prosthetic knee with one activating rotary disc to accomplish necessary braking torque in walking gait via T-shaped drum with arc surface boundary and implementing of Newton's equation of motion to derive generated torque at the inner surface of the rotary drum. For this purpose a novel configuration of a T-shaped drum based on the effects of a material deformation process is proposed. In this new design, the T-shaped disc will increase the effective areas of influences in between drum and MR fluid together and the arc wall crushes the particles chains (fibrils) of the MR fluid together instead of breaking them via strain in a conventional MR brake. To verify the proposed MR brake, results of the proposed and conventional MR brakes are compared together and demonstrated that the resisting torque of the proposed MR brake is almost two times greater than that of the conventional brake.

• Korean Journal of Applied Biomechanics
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• v.31 no.2
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• pp.140-147
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• 2021

Objective: The purpose of this study is to identify the mechanism of changes in maximum voluntary torque with the magnitude and duration of pre-activation torque during voluntary isometric knee extension. Method: 11 male subjects (age: 25.91±2.43 yrs., height: 173.12±3.51 cm, weight: 76.45±7.74 kg) participated in this study. The subjects were required to produce maximal voluntary isometric torque with a particular pre-activation torque condition. The properties of pre-activation torque consisted of the combinations of 1) three levels of magnitude, e.g., 32 Nm, 64 Nm, 96 Nm, and 2) two levels of duration, e.g., 1 sec, and 3 sec; thus, a total of six conditions were given to the subjects. The force and EMG data were measured using the force transducers and wireless EMG sensor, respectively. Results: The results showed that the maximum voluntary torque increased the most with relatively large and fast (96 Nm, 1 sec) pre-activation condition. Similarly, with relatively large and fast (96 Nm, 1 sec) preactivation, it was found that the integrated EMG (iEMG) of the agonist muscles increased, while no significant changes in the co-contraction of the antagonist muscles for the knee extension. Also, the effect of pre-activation conditions on the rate of torque development was not statistically significant. Conclusion: The current findings suggest that relatively larger in magnitude and shorter in duration as the properties of pre-activation lead to a larger magnitude of maximal voluntary torque, possibly due to the increased activity of the agonist muscles during knee extension.

• Korean Journal of Exercise Nutrition
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• v.24 no.4
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• pp.28-33
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• 2020

[Purpose] This study aimed to investigate the effects of branched-chain amino acid (BCAA) supplement on delayed onset muscle soreness (DOMS) by analyzing the maximum muscle strength and indicators of muscle damage. [Methods] Twelve men with majors in physical education were assigned to the BCAA group and placebo group in a double-blinded design, and repeated measurements were conducted. DOMS was induced with an isokinetic exercise. Following BCAA administration, the changes in the knee extension peak torque, flexion peak torque, aspartate aminotransferase (AST), creatine kinase (CK), and lactate dehydrogenase (LDH) concentrations were analyzed. The maximum knee muscle strength was measured at the baseline (pre-D0) following BCAA administration for 5 days before exercise (-D5, -4D, -3D, -2D, -1D). In contrast, the post-treatment measurements (D3) were recorded after BCAA administration for 3 days (post-D0, D1, D2). Blood samples were obtained before (pre-D0), immediately after (post-D0), 24 h (D1), 48 h (D2), and 72 h (D3) after the exercise to analyze the indicators of muscle strength. BCAA was administered twice daily for 8 days (5 days and 3 days before inducing DOMS and during the experimental period, respectively). [Results] There was no difference in the flexion peak torque between the groups. However, the BCAA group showed a significantly higher extension peak torque at D3 (second isokinetic exercise), compared to the placebo group (p<.05). There was no difference in AST changes between the groups. Nonetheless, the CK and LDH were significantly reduced in the BCAA group, compared to the placebo group. There was no correlation between the extension peak torque and flexion peak torque. However, the CK and LDH increased proportionately in DOMS. Moreover, their concentrations significantly increased with a decreasing peak torque (p<.01). [Conclusion] An exercise-induced DOMS results in a decrease in the peak torque and a proportional increase in the CK and LDH concentrations. Moreover, the administration of BCAA inhibits the reduction of the extension peak torque and elevation of CK and LDH concentrations. Therefore, BCAA might be administered as a supplement to maintain the muscle strength and prevent muscle damage during vigorous exercises that may induce DOMS in sports settings.