• 한국생산제조학회지
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• 제26권1호
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• pp.50-58
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• 2017

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1994년도 춘계공동학술대회논문집; 창원대학교; 08월 09일 Apr. 1994
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• pp.596-605
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• 1994

An efficient measurement and evaluation system for hand tool tasks will provide a practical solution to the problem of designing and evaluating manual tool tasks in the workplace. Few studies on the biomechanical analysis of hand postures and tool handling tasks exist because of the lack of appropriate measurement techniques for hand force. A measurement system for the finger forces and joint angles for analysis of manual tool handling tasks was developed in this study. The measurement system consists of a force sensing glove made from twelve Force Sensitive Resistors and an angle-measuring glove (Cyberglove$\^$TM/, Virtual technologies) with eighteen joint angle sensors. A biomechanical model of the hand using the data from the measurement system was also developed. Systems of computerized procedures were implemented integrating the hand posture measurement system, biomechanical analysis system, and the task analysis system for manual tool handling tasks. The measurement system was useful in providing the hand force data needed for an existing task analysis system used in CTD risk evaluation. It is expected that the hand posture measurement developed in this study will provide an, efficient and cost-effective solution to task analysis of manual tool handling tasks. These tasks are becoming increasingly important areas of occupational health and safety of the country.

• 한국운동역학회지
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• 제24권3호
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• pp.229-238
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• 2014

This study comparatively analyzed the speed and segment coordination characteristics of Taekwondo hand techniques, while different attention focusing strategies were utilized. Ten elite Taekwondo poomsae athletes participated, and three different strategies (no focus, target focus, body focus) were utilized in random order. The hand velocity and upper body segment coordination characteristics were analyzed, with the following results. First, the maximum magnitudes of the hand velocity differed between the focus conditions for the Araenaereomakgi and Momtongjireugi techniques. Second, the angular velocity and kinetic energy transfer patterns of the segments differed between the focus conditions, and in the case of the body focus condition, the movement was more correct according to the theory. Third, the shoulder and elbow joint coordination patterns differed between the focus conditions, with more efficient movement shown with the body focus condition. In conclusion, we confirmed the potential of effectively using an attention focusing strategy in a taekwondo teaching situation. However, the effect on the movement coordination and results of the movement could be changed by a difference in the cue provided or the type of the task. In addition, depending on the task, the attention focusing strategy could affect the efficiency of the movement. Therefore, coaches and masters of Taekwondo will have to constitute determine the appropriate attention focusing cues based on the task.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권10호
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• pp.4117-4135
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• 2020

Due to the angle of view, illumination and scene diversity, real-time dynamic face detection and recognition is no small difficulty in those unrestricted environments. In this study, we used the intrinsic correlation between detection and calibration, using a multi-task cascaded convolutional neural network(MTCNN) to improve the efficiency of face recognition, and the output of each core network is mapped in parallel to a compact Euclidean space, where distance represents the similarity of facial features, so that the target face can be identified as quickly as possible, without waiting for all network iteration calculations to complete the recognition results. And after the angle of the target face and the illumination change, the correlation between the recognition results can be well obtained. In the actual application scenario, we use a multi-camera real-time monitoring system to perform face matching and recognition using successive frames acquired from different angles. The effectiveness of the method was verified by several real-time monitoring experiments, and good results were obtained.

• 한국운동역학회지
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• 제31권1호
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• pp.37-43
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• 2021

Objective: The purpose of this study was to investigate the effect of mobile phone text messaging on the collision avoidance strategy for an approaching and stationary pedestrian. Method: Eighteen healthy young adults participated in this study. Each participant was asked to perform a task to walking with/without mobile phone text messaging and a task to avoid collisions with another pedestrian who was approaching or stationary during walking. Results: When text messaging with avoidance collision, it showed an early onset time, a larger mediolateral COM trajectory, trunk rotation angle and trunk rotation velocity (p<.05). Also, compared to an approaching pedestrian, when avoiding collision with a stationary pedestrian, it showed a later onset time, a lager avoidance displacement, mediolateral COM trajectory, trunk rotation angle (p<.05). Conclusion: Results suggest that mobile phone text messaging while collision avoidance leads to delay the perception stage and alters the adaptation stage. Consequently, pedestrian executed in an exaggerated avoidance action to create a greater safety margin when attending to mobile phone test messages while avoiding another pedestrian.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 한국수학교육학회지시리즈C:초등수학교육
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• 제20권2호
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• pp.163-175
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• 2017

본 연구는 평면 도형의 도형 분류하기 과제를 제시할 때 길이와 각의 표기 여부가 도형의 개념 이해에 어떤 영향을 주는지 알아보는데 목적이 있다. 이를 위해, 초등학교 4학년 학생 33명을 대상으로 분류하기 과제 해결 과정을 Eye-tracker를 통해 녹화하고 정답률과 Gaze Duration을 중심으로 분석하였다. 그 결과, 이등변삼각형과 정삼각형의 분류하기에서는 길이를 제시하였을 때 정답률이 증가하고 Gaze Duration은 감소하였다. 예각삼각형과 둔각삼각형 과제에서도 직각을 표기했을 때 정답률이 증가하고 Gaze Duration이 감소하였다. 이러한 결과로 볼 때, 평면도형을 분류하는 과제를 제시할 때는 길이와 각을 표기하여 학생들이 어림하여 도형을 분류하기 보다는 도형의 개념 이해를 바탕으로 분류하는 것을 측정하는 데 초점을 두어야 할 것이다.

• 대한물리의학회지
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• 제4권2호
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• pp.117-124
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• 2009

Purpose：The purpose of this study was to investigate of the change of the forward head posture(FHP) according to computer using time. Methods：Subjects were 30 male and 30 female. The factors of FHP were measured cranial vertical angle, cranial rotation angle, and head, upper back, neck flexion/extension angle according to computer using time. Change of FHP used to Digital Inclinometry(JTech, Dualer IQTM Dual Inclinometer). The data were collected by data logger(Logger Teknologi HB, Akarp, Sweden). Results：Cranial vertical angle, cranial rotation angle, and head, upper back, neck flexion/extension were increased according to computer using time(p<.05). But cranial vertical angle and cranial rotation angle, and head, upper back, neck flexion/extension were not significant differences between male and female group(p>.05). Conclusion：The effects of cranial vertical angle, cranial rotation angl and head, neck and upper back angle depend on the computer task time. Increased of FHP may result increased tension in posture muscles of cervical spine, resulting in a risk of musculoskeletal disorders.

• 대한통합의학회지
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• 제9권4호
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• pp.149-158
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• 2021

Purpose : Forward head posture (FHP) is one of the most common postural malalignment of the cranio-cervical region. Previous studies have reported that FHP might affect both temporomandibular joint (TMJ) and cervical muscles, but still remains unclear. The purpose of this study was to compare the changes of craniovertebral angle (CVA) and muscle properties after smartphone use in healthy individuals with and without FHP. Methods : Fifteen healthy individuals aged 18 to 22 years were included. CVA was evaluated using Dartfish motion analysis, and the subjects were divided into two groups according to their CVA: a FHP group (n = 7, CVA less than 48 °) and a control group (n = 8, CVA more than 48 °). MyotonPro was used to measure muscle properties of masseter, digastric and sternocleidomastoid muscles (SCM). Each subject underwent 15-minutes of smartphone task (web browsing or video watching) in relaxed sitting posture. CVA and muscles properties were assessed both before and after the smartphone task. Results : There were significant changes in post measurements of CVA between the groups. Masseter muscle showed significant differences in pre and post measurements of all muscle properties, and digastric muscle showed significance only in muscle tone. Amount of changes (post-pre), however, showed no significant difference in this study. Conclusion : 15-minutes of smartphone task did not affect CVA and muscle properties of masseter, digastric and SCM in both groups, however, there were significant changes in pre and post measurements of CVA and some muscle properties of masseter and digastric muscles. Therefore, CVA, masseter and digastric muscles might be significantly changed in a heavy duration of smartphone usage more than 15-minutes. Further studies are needed regarding duration of smartphone task, assessments in other various TMJ muscle groups, and participants with pathological FHP conditions.

• Physical Therapy Rehabilitation Science
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• 제5권1호
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• pp.9-14
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• 2016

Objective: This study was to investigate the effects of Task-oriented training for Gross Motor Function Measure (GMFM), gait and balance function in cerebral palsy. Design: Randomized controlled trials. Methods: Twenty four subjects were recruited by means of a convenience sampling from Kangseo-Gu G rehabilitation center. Subjects were 24 inpatients and were randomly divided into a task-oriented training group and a conventional group. Twelve patients were experimental group who executed the task-oriented training (5 times/wk) for 4 weeks. The task-oriented program mainly focused on the capabilities of independent walking, with the angle of inclination set at 0 degrees and walking at a self-selected comfortable speed. In addition, balance training included the one-legged standing with weight-shifting and task-oriented training. Twelve patients were control group who executed only general conventional therapy (5 times/wk) for 4 weeks. All subjects were evaluated about the motor function, gait and balance function. Subjects have conducted the measured variables, GMFM, GAITRite, PDM Multifunction Force Measuring Plate after treatment. Results: There was statistically significant increase of Gross Motor Function Measure scores of the experimental group and control group after 4 weeks (p<.05). There was statistically significant increase of gait and balance function of the experimental group after 4 weeks of task-oriented training (p<.05). The experimental group showed a significantly improvement in GMFM, gait, and balance compared to the control group (p<0.05). Conclusions: This study proved that task-oriented training after stroke can improve Gross Motor Function Measure, gait and balance. Thus this study can suggest that task-oriented training for gross motor function, gait and balance be effective on the cerebral palsy.