• 대한기계학회논문집A
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• 제25권4호
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• pp.685-694
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• 2001

In this study, a transfemoral prosthesis system of which both stance phase and swing phase are controllable has been developed for the recovery of the biomechanical function of the amputated leg. It consists of a 5 bar link mechanism, a hydraulic-rubber knee damper for stance phase control and a pneumatic cylinder controlled via a microprocessor for stance phase control. The mechanical characteristics of the knee damper which absorbs the impact energy generated at the heel contact were investigated. The characteristics of the pneumatic cylinder essential for the speed adaptation of the prosthesis during swing phase were also studied for its mechanical characteristics. The prosthesis was subject to the clinical tests, and the gait characteristics obtained were very close to those of normal subjects. The stance and swing controlled prosthesis that were developed in this study showed good stability during the stance phase and showed good controllability during the swing phase.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.504-509
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• 2000

In this study, a transfemoral prosthesis system of which stance phase and swing phase are controlled during walking has been developed for the recovery of the biomechanical function of the amputated leg. It consists of a 5 bar link mechanism, a hydraulic-rubber knee damper for stance phase control and a pneumatic cylinder controlled via a microprocessor for stance phase control. The mechanical characteristics and behaviour of the knee damper which absorbs the impact energy generated at the heel contact was investigated. The characteristics of the pneumatic cylinder essential for the speed adaptation of the prosthesis during swing phase was also studied for its mechanical characteristics. The prosthesis was subject to the clinical test ant the gait characteristics obtained were very close to those of normal. The stance and swing controlled prosthesis that were developed in this study showed good stability during the stance phase and showed good controllability during the swing phase.

• 디지털융복합연구
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• 제11권4호
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• pp.331-338
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• 2013

본 연구는 엉치엉덩관절 통증을 동반한 만성 요통환자 52명을 대상으로 6주 간 골반운동프로그램 및 전통적 물리치료를 병행한 실험군 27명과 전통적 물리치료만을 중재한 대조군 25명을 무작위 임상 표본 추출 하였다. 두 군 모두 통증의 정도를 알아보는 오스웨스트리-요통장애지수검사와 보행 시 엉덩관절의 각도분석을 한 후, 집단별 실험 전과 실험 후의 오스웨스트리-요통장애지수검사와 보행 시 엉덩관절의 각도분석을 비교하여 골반안정화 운동프로그램이 엉치엉덩관절 통증을 동반한 만성요통환자의 통증과 엉덩관절에 미치는 영향을 알아보고자 하였다. 요통의 변화는 집단 내와 집단 간에서 모두 유의하게 감소되었음을 알 수 있었고, 엉덩관절 각도비교에서는 실험군내 좌측 엉덩관절에서 중간디딤기, 말기디딤기, 유각전기, 초기흔들기와 우측 엉덩관절의 중간디딤기, 말기디딤기, 유각전기, 초기흔들기에서 차이가 있었다. 대조군 내 좌측 엉덩관절에서는 중간디딤기, 말기디딤기, 초기흔들기와 우측 엉덩관절의 체중전달기, 중간디딤기, 말기흔들기, 유각전기에서 유의한 차이가 있었다. 따라서 골반안정화 운동프로그램이 통증을 포함한 요통기능장애수준에 효과적이고 보행 시 입각기와 유각기 동안 엉덩관절의 굽힘과 폄이 리듬 있게 이동하여 보행이 대칭적으로 자연스럽게 이동되는데 도움이 되는 것으로 나타났다.

• 대한의용생체공학회:의공학회지
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• 제22권4호
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• pp.359-368
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• 2001

A new knee-ankle-foot-orthosis(KAFO) which uses an automatically-controlled electromechanical wrap spring clutch for the knee joint was developed in the present study. It was found that the output voltage from the foot switches of the developed KAFO was proportionally increased with respect to the applied load. The output voltage from the infrared sensor also decreased as the knee flexion angle increased. The knee joint system for the new KAFO weighs only 780g lighter than any other commercially available developed system. In addition, the solenoid reduces the reaction time for the automatic control of the knee joint. The static torque of the clutch was measured for three persons, and it satisfied the normal knee extension moment during the pre-swing. Three-dimensional gait analyses for three different gait patterns (normal gait, locked-knee gait, controlled-knee gait) from five normal subjects were conducted. Controlled-knee gait showed the maximum knee flexion angle of 40.56$\pm9.55^{\circ}$ and the maximum knee flexion moment of 0.20$\pm$0.07Nm/kg at similar periods in the normal gait. Our KAFO system satisfies both stability during stance phase and free knee flexion during the swing phase at the proper period during the gait cycle. Therefore, our KAFO system would be very useful in various low extremity orthotic applications.

• 대한물리의학회지
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• 제7권3호
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• pp.293-302
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• 2012

Background & Purpose : The purpose of this study is to evaluate the impairment of SVMC(selective voluntary motor control) of the lower extremity by assessing each joints of lower limb and to analyze the motional relationship between each joints of lower limb using SCALE(Selective Control Assessment of the Lower Extremity) during the swing phase of gait cycle in children with spastic diplegia. Method : 11 children with spastic diplegia CP who could walk independently and 10 normal developing children were participated. SCALE(Selective Control Assessment of the Lower Extremity) assessments were conducted for 11 children with CP. Gait analysis were accomplished in all participants. Qualisys motion analysis was used as a statistical tool to assess the motional relationship between hip joint, knee joint and ankle joint in each limb. We used descriptive statistics, cross-tabulation, independent t-test, linear regression to analysis motional relationship between each joints of lower limb using by SPSS ver.17.0. Result : Firstly, there were significant differences in SCALE scores between the cerebal palsy group and the control group in knee joint(p<0.05), but no significant difference in hip and ankle joints during the swing phase of gait cycle. Secondly, the difference of SCALE scores showed no statistical motional difference in knee and ankle joints during the swing phase, and showed significant motional difference in hip joints during the swing phase(p<0.05). Thirdly, there was a liner relationship between the motion of hip and ankle joints during the swing phase. Conclusion : The nature of SVMC(selective voluntary motor control) in each joints of the lower limb may reflect the ability of gait, thus SCALE may be used for assessing and for treating the cerebal palsy patients who are able to walk independently. Also we knew that the impairment of SVMC(selective voluntary motor control) increases from the proximal to the distal joints.

• 한국운동역학회지
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• 제18권2호
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• pp.29-39
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• 2008

본 연구는 평행봉 티펠트 기술에 대한 훈련 프로그램을 개발하여 8주간 적용하고 프로그램 전과 후의 차이를 3차원 영상분석법을 사용, 운동학적으로 비교 분석을 통해 기술별 동작의 향상도 및 특성을 규명하고자 하였다. 훈련 프로그램은 다운스윙 보강운동, 업스윙 보강운동, 다운스윙과 업스윙을 연결하는 보강운동으로 구성하여 실시하였으며, 견관절을 신전시켰다가 가슴을 오목하게 빠르게 모아주는 다운스윙의 훈련으로 견관절을 신전시켜 신체중심을 후방으로 크게 하강하는 모습으로 개선되었다. 수직방향으로 빠르게 다리를 차주면서 상체를 세워주는 업스윙의 훈련결과 신체중심이 전방으로 흐르지 않으면서 수직방향으로 신체중심을 빠르게 상승시키는 모습으로 개선되었다. 업스윙의 훈련 시 상승하면서 전방으로 신체중심이 크게 이동하지 않도록 통제하면서 봉의 탄성을 이용하면서 고관절을 빠르게 신전시켜 상체를 튕겨 주는듯한 느낌으로 상승하도록 지도하여야 한다. 다운스윙에서 업스윙으로의 동작을 연결하는 훈련에서는 신체중심을 후방으로 크게 하강하였다가 빠르게 수직 상승하여 체공시간을 확보하면서 다리가 굽혀지지 않도록 지도하여야 하며, 훈련결과 체공시간의 증가로 안정된 동작으로 동작이 완성되는 모습으로 개선되었다.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1997년도 추계학술대회
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• pp.267-271
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• 1997

In this study, swing phase dynamic simulation of above-knee prosthesis is performed. The prosthesis consists of a single axis knee mechanism and pneumatic cylinder. The numerical modelling of the prosthesis is analyzed in two dimensions. The governing equation of thermodynamical pneumatic cylinder model is applied to construct the control of lower limb during swing phase. Knee flexion angle with respect to the orifice diameter of the pneumatic cylinder is produced. This analysis will be very useful to the design of pneumatic cylinder in prosthesis.

• 한국운동역학회지
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• 제22권3호
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• pp.333-339
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• 2012

Freezing of gait is a severely problem in people with Parkinson's disease. The purpose of this study was to investigate the muscle activities of adductor longus, gluteus medius, gluteus maximus, biceps femoris, rectus femoris, gastrocnemius, and tibialis anterior using Noraxon 8 channels EMG system during stop task in patients with Parkinson's disease. Seven parkinson's patients and age matched normal participants were recruited in the study. Filtered EMG signals were rectified, smoothed and integrated. To control for the altered timing and magnitude of activity, iEMG was normalized for time and peak value. The results indicated that the patients with Parkinson showed decreased gait cycle, stance phase, swing phase time, swing phase time ratio and increased stance phase time ratio than normal participants. The patients with Parkinson showed decreased gastrocnemius muscle activity time ratio, while increased tibialis anterior muscle activity time ratio than normal participants. During stance phase before stop, the patients with Parkinson showed relatively lower average and peak iEMG in anterior tibialis and gastrocnemius muscle than normal participants. During swing phase before stop, the patients with Parkinson showed relatively higher average iEMG in gastrocnemius muscle than normal participants. During stop phase, the patients with Parkinson showed relatively lower average and peak iEMG in anterior tibialis and gastrocnemius muscle than normal participants.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.94.5-94
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• 2001

Unrestricted measurement method of three-dimensional walking distance utilizing body acceleration and terrestrial magnetism is discussed. The three-dimensional walking distance is derived by the integration of the three dimensional acceleration of foot during swing phase. Since the sensor system attached on the foot rotates during swing phase, the acceleration data measured on the foot include acceleration of gravity which causes inaccurate calculation of the velocity and the distance. Three gyros are used to compensate the rotation of the sensor system. Moreover, one geomagnetic sensor is employed to derive the heading direction of the subject Healthy volunteers performed ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1871-1875
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• 1997

Crane operation is manually accomplished by skilled operators. Recently, the concept of automation is widely introduced in shipping and unloading operation using the overhead crane for the enhanced productivity. In this regards, we designed an angle detector and 3D position detectro which are key evices for this operation. As well as an intellignet control algorithm is developed for the implementation of swing free crane. The performance of the presented algorithm is tested for the swing angle and the position of the overheas crand. The control scheme adopts a feedback control of an angular velocity of swing in initial phase and then the fuzzy controller whose rule base is optimized by a genetic algorithm.