• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국의류산업학회지
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• 제8권2호
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• pp.209-213
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• 2006

The 3-D information is useful as basic data which has been utilized in the development of simulating technology as fit-simulation. The experiment is designed to take some useful data on the variant shapes which contribute in simulating the adaptability of the clothes. The general figure of the clothes are made after the figure of the basic standing posture of the human body. The shape of the clothes fits with kinetic characteristic of the human body as the form of the clothes gets twisted, the ease of the clothes changes, and the clothes itself expands. We studied the dressed shapes of blouse according to two types of the arm movement(basic posture and reach forward) and three types of clothes(foundation, blouse with short sleeves and sleeveless) in the sit-down-posture. We accomplished some experimental data on three-dimensional measurement of the dressing shapes using TDS-3100 3-D scanner made in Japan PULSTECH. It is considered that the variant of shapes and distribution of gaps in the dressed shapes of blouse are determined by the adaptability of clothes made in arm movement.

• 한국산학기술학회논문지
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• 제12권8호
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• pp.3587-3593
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• 2011

본 연구는 만성 뇌졸중 환자를 대상으로 하여 불안정한 지지면과 안정 지지면에서의 균형 훈련이 균형능력향상에 어떠한 영향을 주는지 알아보고자 한다. 이 연구의 대상자는 만성 뇌졸중 환자 30명(남: 16, 여: 14)으로 안정지지면 군과 불안정 지지면 군으로 무작위로 배분하여 주 5회 6주 동안 실시하였다. 균형증진 운동은 선행 연구를 참조하여 수정 보완한 것으로 6가지의 운동으로 구성하였다. 대상자들의 균형능력의 측정은 기능적 기립 균형 검사, 기능적 전방 팔 뻗기 검사, 실행능력 지향형 운동성 평가를 이용하였다. 기능적 기립 균형검사와 실행능력 지향형 운동성 평가에서는 안정지지면 운동군과 불안정 지지면 운동군 두 군에서 향상되었다. 기능적 전방 팔 뻗기 검사에서는 불안정 지지면 군에서만 향상되었다. 따라서, 안정 지지면에서의 운동도 만성 뇌졸중 환자의 균형능력 향상을 시키지만 불안정 지지면 운동군에서의 균형운동이 균형 능력 향상에 더 효과적인 것으로 나타났다.

• 한국운동역학회지
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• 제14권2호
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• pp.15-26
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• 2004

The purpose of this study was to investigate the kinematic variables of peters motion in parallel bars. The subjects were 3 male national gymnasts. For this study, kinematic data were collected using video camera. Coordinate data were low-pass filtered using a fourth-order Butterworth with cutoff frequency of 6Hz. Each valuables analyzed was used to compare kinematic features between the subjects. The conclusions were as follows; 1. For a stable regrasp motion, the subjects appeared to increase horizontal and vertical displacement during the DS phase because it induce a vertical elastic of body and reaction of bar for the US phase. 2. For a stable hand standing motion of the regrasp, the subjects appeared to maintain the fast vertical and horizontal velocity during the DS phase, but in contrary during the US and Air phase the vertical and horizontal velocity appeared to do decrease. 3. When the arm lean angle and the trunk lean angle maintain a big angle during the DS phase, the subjects appeared to do a stable performance to release in a high position.

• 패션비즈니스
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• 제19권3호
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• pp.130-143
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• 2015

By studying 3-D virtual human modeling, motion-capturing and clothing simulation for easier and safer work clothes development, this research aimed (1) to categorize heavy manufacturing work motions; (2) to generate a 3-D virtual male model and establish painting work motions within a 3-D virtual clothing simulation system through computerized body scanning and motion-capturing; and finally (3) to suggest simulated clothing images of painting work clothes developed based on virtual male avatar body measurements by implementing the work motions defined in the 3-D virtual clothing simulation system. For this, a male subject's body was 3-D scanned and also directly measured. The procedures to edit a 3-D virtual model required the total body shape to be 3-D scanned into a digital format, which was revised using 3-D Studio MAX and Maya rendering tools. In addition, heavy industry workers' work motions were observed and recorded by video camera at manufacturing sites and analyzed to categorize the painting work motions. This analysis resulted in 4 categories of motions: standing, bending, kneeling and walking. Besides, each work motion category was divided into more detailed motions according to sub-work posture factors: arm angle, arm direction, elbow bending angle, waist bending angle, waist bending direction and knee bending angle. Finally, the implementation of the painting work motions within the 3-D clothing simulation system presented the virtual painting work clothes images simulated in a dynamic mode.

• 한국지능시스템학회논문지
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• 제22권5호
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• pp.570-576
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• 2012

본 논문에서는 역진자 기구와 기립 암을 이용하여 직립주행이 가능한 이동로봇용 구동 플랫폼을 개발한다. 기존에 주류를 이루고 있는 이동로봇은 4륜 혹은 3륜으로 구동되고 있으므로 그 몸체는 정역학적으로 용이하게 안정성이 확보되는 특징을 갖고 있다. 기존의 이동로봇의 형태는 평면적으로 넓적한 형태의 정사각형 혹은 직사각형 형태를 갖고 있으므로 몸체의 조향을 위해서 독립구동륜형 혹은 조향형 차륜을 장치하고 있다. 이동로봇은 협소한 지형에서 90도로 굽은 통로를 주행할 때, 전후진을 반복하는 등 특별한 조향기법을 필요로 하거나 몸체의 평면적 때문에 물리적으로 조향이 불가능한 경우에 처하게 된다. 이 때, 이동로봇은 평면적이 작은 방향 즉, 직립된 상태로 몸체의 형상을 변형시켜 해당 지형을 주행함으로써 주행곤란 문제를 회피할 수 있다. 본 연구에서는 이동로봇의 몸체를 직립시킬 수 있는 기립 암과 역진자 기구가 결합된 구동 플랫폼을 제안한다.

• 대한정형도수물리치료학회지
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• 제19권1호
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• pp.9-20
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• 2013

Background: This study was conducted to provide preventive measure for the musculoskeletal disorders in automobile parts manufacturing workers. Method: The author surveyed to the musculoskeletal symptoms prevalence and its related factors from 10th to 17th April 2011 with structured self administered questionnaires. 223 out of 225 collected questionnaires were used for final analysis, excluding 2 questionnaires with no valid response. Based on the diagnostic criteria of NIOSH (National Institute for Occupational and Health), an investigation was made into the prevalence of musculoskeletal symptoms as well as into the factors related to individual items. Results: The prevalence of musculoskeletal symptoms according to the criteria of NIOSH was the highest in the shoulder (52.9%), followed by the neck (39.%), the hand/wrist (35%), the waist (29.6%), the arm/elbow (24.7%), and the leg/food (23.8%). One-way analysis showed that among general characteristics, age was the musculoskeletal risk factor with the greatest effect. Whereas among work-related characteristics, significant risk factor didn't find. Yet it was shown that among ergonomic work postures, high degree of musculoskeletal risk was shown by the posture involving frequent and repetitive movement of the arm and the hand/wrist and also by the posture involving standing for a long time. Multiple regression analysis showed that musculoskeletal risk was 1.795 times higher in those age 50 and over than in those under age 50; 1.67 times higher in the high risk stress group than in the low risk stress group; and 1.131 higher in the group involving the repetitive use of the hand/arm than in the other groups (p<.05). Conclusion: The prevalence and stress score of automobile parts manufacturing workers were higher than other occupation workers. Among general characteristics, drinking and smoking were shown to be related to stress score; while age was shown to have significant effect on musculoskeletal risk.

• 대한통합의학회지
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• 제12권2호
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• pp.11-23
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• 2024

Purpose : The purpose of this study was to investigate the effect of exercise using a suspension device (sling and total body resistance exercise; TRX) on physical functional performance and postural balance. Methods : An experimental study comparing 2 different suspension exercise was conducted on 16 healthy college students. 16 subjects were assigned to two groups. They were classified into 8 sling group and 8 TRX group. Miniplus was used to evaluate physical functional performance. In this study, isokinetic resistance mode was used to compare and analyze seven movement patterns. Biorescue was used to evaluate postural balance. The intervention exercises in this study are as follows. Standing lean forward (SLF) using a sling and TRX was performed 3 times a week for 3 weeks. The SLF was held for 10 seconds and then rested for 15 seconds, repeated a total of 10 times for 3 sets. Results : In the TRX group, significant increases were observed in physical functional performance (p<.05). Among the differences between groups, significant differences were confirmed on the front of the right arm, the back of the left arm, and the back of the right arm. In the sling group, significant increases were observed in left, right, front, and overall dynamic balance (p<.05). A significant increase in posterior dynamic balance was confirmed in the TRX group (p<.05). There was no significant difference between groups. Conclusion : Based on the results of this study, TRX was effective in improving physical functional performance, while the sling was effective in enhancing postural balance. However, confirming the effectiveness of slings and TRX in the relationship between physical functional performance and postural balance proved inadequate. Therefore, additional research should be conducted to verify the effects of suspension.

• The Journal of Korean Physical Therapy
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• 제17권4호
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• pp.537-557
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• 2005

The purpose of this study was to investigate the effect of pelvic traction and muscle energy technique(MET) for hemiplegic patients on static standing balance. The scale for static standing balance is measured by using mean balance(%), frequence(Hz), sway area($mm^2$), sway path(mm), max sway velocity(mm/s), ant/post sway angle($^{\circ}$), lateral sway angle($^{\circ}$), sway number, change of pelvic height is measured in relation to the height of ASIS and PSIS. The subjects of this study were thirty hemiplegic patients: 15men and 15 women, with an average ages of 50.80 years. The thirty subjects were divided into 3 group of 10 at random ; ten subjects had pelvic traction after bobath therapy (the pelvic traction group), ten subjects had muscle energy technique after bobath therapy (the MET group), and ten subjects had only bobath therapy (the control group). Static standing balance was measured using BPM (balance performance monitor; data print software version 5.3), pelvic height was measured using height measuring with an adjustable horizontal arm. In order to assure the statistical significant of the result, an one-way ANOVA, the paired t-test, and a person's correlation were applied at the.05 level of significance. The results of this study were as follows: 1) The change in pelvic height were statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p<.05). 2) The change in affected and non-affected on weight bearing were not statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p>.05). 3) The change in frequency were statistically significant between the MET group, the control group and the pelvic traction group on pre-treatment and post-treatment(p<.05). 4) The change in sway area were statistically significant between the MET group, the control group and the pelvic traction group on pre-treatment and post-treatment(p<.05). 5) The change in sway pa1h were statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p<.05). 6) The change in max sway velocity were statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p<.05). 7) The change in ant/post sway angle were statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p<.05). 8) The change in lateral sway angle were statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p<.05). 9) The change in sway number were statistically significant between the pelvic traction group, the MET group and the control group on pre-treatment and post-treatment(p<.05). In conclusion, there was a difference between the experimental group and the control group. In the future, we have to study continuously about pelvic traction and muscle energy technique in hemiplegic patients.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 C
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• pp.935-937
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• 1998

The stringing load was added to tower design that consider the active load in 765kV transmission line construction. The nominal auxiliary members of steell tubular tower arm were altered into stress members by means of three dimensional design analysis method. 765kV transmission line construction also use self-standing tower that does not install temporary wire which support the section tower placed between drum field and engine field when stringing process.