• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• Journal of Korean Foot and Ankle Society
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• v.26 no.1
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• pp.9-15
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• 2022

Syndesmotic injuries are found frequently in clinical practice, and they remain controversial because of the variety of diagnostic techniques and management options. Bony avulsions or malleolar fractures are commonly associated with syndesmotic disruptions. Even unstable isolated syndesmosis injuries are associated with a latent or frank tibiofibular diastasis and should not be ignored in the early phase. A relevant instability of the syndesmosis with diastasis results from collateral ligaments tears and requires operative stabilization. The treatment involves an anatomic reduction of the distal tibiofibular articulations followed by stable fixation. Syndesmotic transfixation screws or suture button implants are being proposed as a means of fixation. Recently, suture button fixation has shown more favorable outcomes, but the outcomes can still be controversial. Syndesmotic malreduction can lead to hardware failure, adhesions, heterotopic ossification, tibiofibular synostosis, chronic instability, and posttraumatic arthritis. In particular, the correct diagnosis and evidence-based treatment options for unstable syndesmotic injury should be considered.

• Journal of Korean Foot and Ankle Society
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• v.23 no.4
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• pp.173-182
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• 2019

Purpose: This study determined if anterior talofibular ligament (ATFL)/superior extensor ankle retinaculum (SEAR) thicknesses are related to dynamic balance in individuals with chronic ankle instability (CAI). Materials and Methods: The subjects were 14 males and 15 females (age=24.52±3.46 years). Ankle instability was assessed using the Cumberland Ankle Instability Tool (CAIT) with a cut off score of 25 to define two groups. SonoSite MTurbo (Fugifilm Sonosite, Inc.) musculoskeletal ultrasound (MSKUS) unit was used to assess ATFL and SEAR thicknesses. Dynamic balance was measured with the Y Balance Test (YBT) and two NeuroCom balance tests. Results: There were no significant differences in the average ATFL thickness between stable and unstable ankles in those subjects with CAI (0.25±0.03 cm and 0.21±0.05 cm, respectively) or in the SEAR thickness (0.09±0.04 cm and 0.10±0.03 cm, respectively). There were also no significant differences in the right and left ATFL thicknesses (0.23±0.07 cm and 0.21±0.04 cm, respectively) or the SEAR thicknesses (0.09±0.01 cm and 0.09±0.01 cm, respectively) in those without CAI. There were no differences between limbs in composite scores on YBT in those with CAI (p=0.35) and those without CAI (p=0.33). There was a moderate correlation between the left SEAR thickness and the large forward/backward perturbations on the NeuroCom (Natus) motor control test (r=0.51, p=0.006 and r=0.54, p=0.003, respectively). Conclusion: There were no differences in the ATFL/SEAR thicknesses or balance measures between or within the groups, likely because CAI is multi-factorial and related to mechanisms other than tissue changes alone. More sensitive technology and a better definition of the measurement process may provide more definitive results.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.82-90
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• 2008

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

• Journal of Korean Foot and Ankle Society
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• v.19 no.2
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• pp.69-72
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• 2015

We report on a case of post-burn contracture and right foot deformity in a 37-year-old female who underwent two surgical interventions at the age of seven years. The patient remained well without any associated problems until she presented to our hospital at the age of 37 years with severe pain and right foot deformity. A few treatment modalities have been reported, and amputation has been suggested as the best approach. However, our patient was treated with a talonavicular arthrodesis and a soft tissue procedure, which resulted in a stable, plantigrade, and pain-free foot with an unsupported, bipedal gait.

• Journal of Korean Foot and Ankle Society
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• v.17 no.2
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• pp.79-83
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• 2013

Calcaneus is largest tarsal bone and the fracture of calcaneus is most common tarsal fractures. Calcaneal fractures are divided into extra-articular and intra-articular fractures. Intra-articular calcaneal fractures could be classified as tongue type and joint depression type using simple lateral radiograph (Essex-Lopresti classification), but Sanders suggested new classification according to involving the posterior facet of calcaneus using computed tomography. The involvement of posterior facet was revealed as more complicated than Essex-Lopresti classification. The principle purpose of treatment of calcaneal fractures are restoration of calcaneal height (B$\ddot{o}$hler angle), width, axis, anatomical reduction of joint and restoration of function through the stable fixation. Good visualization of joint and anatomical reduction could be achieved by extended lateral approach. But, skin problem could be occurred after of extended lateral approach.

• The Journal of the Korea Contents Association
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• v.16 no.1
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• pp.734-742
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• 2016

Purpose : The present study was aimed at investigating the plantar pressure on dynamic balance of subjects with functional ankle instability following fatigue of lower leg. Methods : The subjects(30 university students) were divided into 2 groups ; functional ankle instability group(7males and 7females) and ankle stable group(9males & 7females) who could evaluate questionnaire. All the participants were evaluated muscle fatigue of lower leg by Biodex system III and distribution of plantar pressure by Zebris FDM-S system, The dynamic balance was tested by single-leg jump landing. This study were to measure of plantar pressure on dynamic balance with the difference between FAIG and control group following muscle fatigue. Results : In functional ankle instability group(FAIG), the post-fatigue was significantly higher than pre-fatigue in forefoot(p2,p3,p4) of plantar pressure on dynamic balance(p<0.05). The FAIG was significantly higher than the ASG in forefoot(p2, p3, p4) & lat midfoot(p6) of plantar pressure after fatigue in dynamic balance(p<0.05). The FAIG was significantly longer than the ASG in anteroposterior(AP) & mediolateral(ML) distance on center of pressure(CoP) after fatigue in dynamic balance(p<0.05). Conclusion : This study showed that FAIG were effected plantar pressure and center of pressure(CoP) by dynamic balance following muscle fatigue. Further study is needed to measure various age & work with ankle instability for clinical application.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.171-179
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• 2017

Objective: The purpose of this study was to perform a kinematic and kinetic analysis of double-under jump rope technique according to skill level and sex. Method: Participants comprised a skilled group of 16 (9 males, 7 females), and an unskilled group of 16 with 6 months or less of experience (9 males, 7 females). Five consecutive double-under successes were regarded as 1 trial, and all participants were asked to complete 3 successful trials. The data for these 3 trials were averaged and analyzed after collecting the stable third jump in each trial. The variables used in the analysis included phase duration, total duration, flight time, vertical toe height, stance width, vertical center of mass displacement, and right lower limb ankle, knee, and hip joint angles in the sagittal plane during all events. Results: The skilled group had a shorter phase and total duration and a shorter flight time than the unskilled group. The vertical center of mass displacement and ankle dorsiflexion angle were significantly smaller in the skilled group. The male group had a shorter phase duration than the female group. The vertical toe height was greater, the stance width was smaller, and the ankle and hip flexion angles were smaller in the male group. Conclusion: Variables that can be used to distinguish between skill levels are phase and total duration, flight time, vertical center of mass displacement, and ankle dorsiflexion angle. Differences between sexes in double-under jump rope technique may be related to lower limb flexion angle control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.72-81
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• 2009

The purpose of this paper is to accomplish the stable humanoid robot walking on the soft terrains. The goal of the humanoid robot development is to make the robotic system perform some tasks in human living environment. However, human dwelling environments are very different from those of laboratories, where varied experiments are performed by the robot. In many cases, the ground is soft or elastic unlike the floor of a laboratory. When a robot walks on the soft ground, the sole of robot contacts the uneven ground. This results in unstable walking or walking may be impossible according to the degree of softness. Therefore, the algorithm that facilitates stable walking on the soft ground surface is required. In this paper, we suggest an algorithm that controls the ankle to help the robot walk stably on the soft ground using the humanoid robot (ISHURO-II) as a real model. A humanoid robot walking on the soft ground was simulated to verify that the proposed algorithm results in stable walking.