• 한국정밀공학회지
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• 제22권11호
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• pp.182-189
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• 2005

The human knee joint is the intermediate joint of the lower limb that is the largest and most complex joint in the body. Understanding of joint-articulating surface motion is essential for the joint wear, stability, mobility, degeneration, determination of proper diagnosis and so on. However, many studies analyzed the passive motion of the lower limb because of the skin marker artefact and some studies described medial and lateral condyle of a femur as a simple sphere due to the complexity of geometry. Thus, in this paper, we constructed a three-dimensional geometric model of the human knee from the geometry of its anatomical structures using non-uniform B-spline surface fitting as a study for the kinematic analysis of more realistic human knee model. In addition, we developed and verified 6-DOF contact model of the human knee joint using $C^2$ continuous surface of the inferior region of a femur, considering the relative motion of shank to thigh during locomotion.

• 대한안전경영과학회지
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• 제15권2호
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• pp.55-61
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• 2013

For years, many studies have mainly been investigated in a complicated human motion analysis. Recently, many motion analysis equipments have been studied and developed. Therefore, the more complex human movement analyses are possible, we have enabled us to perform more and more complicated human movement analyses. A Three-dimensional(3D) motion analysis on of the several methods is a useful tool for analyzing the human motion analysis. The purpose of this study was to develop the 3D human motion analysis using a kalman filter algorithm and a gyro sensor. The algorithm and sensor were used to human motion analysis with high-speed motion capture. In this study, the developed system will be adapted to facilitate golf swing analysis. Using the developed system, golfers and coaches who do not have advanced biomechanical knowledge can easily be used to their golf swing analysis. Future study is necessary for more practical and efficient area such as other sports industries, 3D game industries, rehabilitation training, etc..

• 한국전문물리치료학회지
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• 제23권3호
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• pp.68-75
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• 2016

Background: Shoulder horizontal adduction (HA) is performed in many activities of daily living. The limited range of motion (LROM) of HA is affected by the tightness of the posterior deltoid, infraspinatus, teres major, and posterior capsule of glenohumeral joint. The LROM of shoulder HA contributes to excessive scapular abduction. Objects: The aim of this study is to compare the scapular abduction distance and three-dimensional displacement of the scapula during shoulder horizontal adduction between subjects with and without the LROM of shoulder HA. Methods: 24 subjects (12 people in LROM group and 12 people in normal ROM group) participated. Subjects with less than $115^{\circ}$ of HA ROM were included in LROM group. Shoulder HA was performed 3 times for measuring scapular abduction distance and three-dimensional displacement of the scapula. Tape measure was used for measuring scapular abduction distance. Scapular abduction distance was normalized by dividing the scapular size. Polhemus Liberty was used for measuring the three-dimensional displacement of the scapula. Results: Normalized scapular abduction distance was significantly greater in LROM group than normal ROM group (p<.001). Three-dimensional displacement of the scapula during shoulder HA was greater in LROM group than normal ROM group (p<.05). Conclusion: LROM group had a greater scapular abduction and three-dimensional displacement of the scapula during shoulder HA compared to normal ROM group.

• 대한기계학회논문집A
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• 제20권5호
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• pp.1486-1497
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• 1996

The problem of determining the 3-demensional motion of any two rough bodies after a collision involves some rather long analysis and yet in some points it differs essentially from the corresponding problem in tdwo dimensions. We consider a special problem where two rough ellipsolids moving in any manner collide, and analyze the three dimensional impact process with Coulomb friction and Poisson's hypothesis. The differential equations that describe that process of the impact induce a flow in the tangent velocity space, the flow patterns characterize the possible impact cases. By using the graphic method in impulse space and numerical integration thchnique, we analyzed the impact process inall the possible cases and presented the algorithm for determining the post-impact motion. The principles could be applied to the general problem in three dimensions. We verified the effectiveness of the analysis results by simulating the numerous significant examples.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.208-219
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• 2002

A novel measurement method to obtain the 6-DOF motions of arbitrary rigid bodies is proposed in this paper. The method adopts a specially fabricated mirror called 3-facet mirror, which looks like a triangular pyramid haying an equilateral cross-sectional shape. The mirror is mounted on the objects to be measured, illuminated by a laser beam having circular profile, and reflects the laser beam in three different directions. Three PSDs(position sensitive detector) detect the three beams reflected by the mirror, respectively. From the signals of the PSDs, we can calculate the 3-dimensional position and orientation of the 3-facet mirror, and thus enabling us to determine the 3-dimensional position and orientation of the objects. In this paper, we model the relationship between the 3-dimensional position and orientation of an object in motion and the outputs of three PSDs. A series of experiments are performed to demonstrate the effectiveness and accuracy of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects and provide resonable measurement accuracy.

• Physical Therapy Rehabilitation Science
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• 제5권3호
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• pp.143-148
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• 2016

Objective: This study aimed to quantify one of the useful upper extremity movements to evaluate motor control abilities between the groups of people with mild and moderate arm impairments performing a door handling task. Design: Cross-sectional study. Methods: Twenty-one healthy participants and twenty-one persons with chronic stroke (9 mild stroke and 12 moderate stroke) were recruited for this study. Stroke participants were divided into 2 groups based on Fugle-Meyer Assessment scores of 58-65 (mild arm) and 38-57 (moderate arm). All they performed door handling task including the pronation and supination phases 3 times. We measured some movement factors which were reaction time, movement time, hand of peak velocity, hand of movement units to perform door handling task using the three-dimensional motion analysis. Results: The majority of kinematic variables showed significant differences among study groups (p<0.05). The reaction time, total and phase of movement time, hand of peak velocity, the number of movement units discriminated between healthy participants and persons with moderate upper limb stroke (p<0.05). In addition, reaction time, total and phase of movement time, the number of movement units discriminated between those with moderate and mild upper limbs of stroke patients (p<0.05). Conclusions: Three-dimensional kinematic motion analysis in this study was a useful tool for assessing the upper extremity function in different subgroups of people with stroke during the door handling task. These kinematic variables may help clinicians understand the arm movements in door handling task and consist of discriminative therapeutic interventions for stroke patients on upper extremity rehabilitation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.317-318
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• 2006

A transfer loading system for 21' RF band assembly box was developed in the present study. The weight of a box is approximately 60kgf End total weight of one day job per person is about $4,000kg_f$. For an efficient design and manufacturing process, three dimensional design and engineering technique were applied to the presented system. Motion analysis for a popup unit and structural analysis for belt part subjected to the load of box weight were performed, respectively. It was found that the evasion of duty and labor intensity is reduced after appling the developed system to manufacturing field of small and midium business.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.122-129
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• 2007

To evaluate the effect of artificial disc implantation and fusion on the biomechanics of adjacent motion segment, a nonlinear three-dimensional finite element model of whole lumbar spine (L1-S1) was developed. Biomechanical analysis was performed for two different types of artificial disc, ProDisc and SB $Charit{\acute{e}}$ III model, inserted at L4-L5 level and these results were also compared with fusion case. Angular motion of vertebral body, forces on the spinal ligaments and facet joint under sagittal plane loading with a compressive preload of 150 N at a nonlinear three-dimensional finite element model of Ll-S1 were compared. The implant did not significantly alter the kinematics of the motion segment adjacent to the instrumented level. However, $Charit{\acute{e}}$ III model tend to decrease its motion on the adjacent levels, especially in extension motion. Contrast to motion and ligament force changes, facet contact forces were increased in the adjacent levels as well as implanted level for constrained instantaneous center of rotation model, i.e. ProDisc model.

• 한국분말재료학회지
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• 제7권4호
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• pp.189-196
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• 2000

Effect of ball filling ratio on the behavior of balls motion and their collision characteristic in a tumbler-ball milling of metal powder are investigated by a computer simulation. The discrete element method and the extended Kelvin model composed of nonlinear spring and nonlinear dashpot were employed in the simulation. It can be possible that analysis of the individual balls motion in a three-dimensional actual mill by the two-dimensional model simulation, since the simulated trajectories of ball paths are in relatively good agreement with the actual ones. It knows that the balls motion in the tumbler-ball mill is strongly influenced by the surface conditions of the balls and mill container wall. The energy consumption of the individual balls during impact and the impact frequency of the individual balls increased with an increase in the ball filling ratio and showed maximum values at about 50-60% ball filling ratio, and then decreased.