• 대한의용생체공학회:의공학회지
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• 제32권1호
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• pp.1-6
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• 2011

An active training system has been developed to assist the upper extremity function in patients with spasticity. We also evaluated the performance of the developed assistive system in five normal subjects and one hemiplegic patient. The maximum voluntary contraction (MVC) tests for biceps brachii and triceps brachii were performed and the relationship between linear enveloped EMG signal and the elbow joint torque was found. In order to implement an active training, our system was designed to allow isokinetic movement only when the subject generates elbow joint motion larger than the pre-fixed threshold level. The proposed EMG-feedback control method could provide active exercises, resulting in better rehabilitation protocol for spastic patients.

• 한국해양공학회지
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• 제24권1호
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• pp.172-177
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• 2010

This study presents an explicit dynamic analysis of an adhesively bonded single-lap joint under an impact load. The finite element software, ANSYS LS-DYNA, was used for the analysis and Von Mises stresses were obtained from the analysis. To model the adherents, solid elements were used and a rigid body was assumed for impactor modeling. Three impact heights (1 m, 5 m, and 10 m) were applied to consider different impact conditions and infinite boundary conditions were applied to the end-area of each adherent to save computational time in the analysis. In addition to investigating the stresses in the normal state, we also investigated the stresses in a damaged state (elasticity deterioration), simulated by a change in Young's modulus for 36 of the 3600 elements in the upper layer of the adhesive. The results showed that the location of damage is critical to the stress state of each layer (upper, middle, and lower).

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권1호
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• pp.193-214
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• 2017

In this paper, we study the problem of network utility maximization in a CSMA based multi-hop wireless network. Existing work in this aspect typically adopted continuous time Markov model for performance modelling, which fails to consider the channel conflict impact in actual CSMA networks. To maximize the utility of a CSMA based wireless network with channel conflict, in this paper, we first model its weighted network capacity (i.e., network capacity weighted by link queue length) and then propose a distributed link scheduling algorithm, called CSMA based Maximal-Weight Scheduling (C-MWS), to maximize the weighted network capacity. We derive the upper and lower bounds of network utility based on C-MWS. The derived bounds can help us to tune the C-MWS parameters for C-MWS to work in a distributed wireless network. Simulation results show that the joint optimization based on C-MWS can achieve near-optimal network utility when appropriate algorithm parameters are chosen and also show that the derived utility upper bound is very tight.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• 한국운동역학회지
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• 제21권1호
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• pp.57-65
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• 2011

This research was conducted to biomechanically analyze Tippelt motion in parallel bars, and establish technical understanding. To achieve that goal, the performances of the Tippelt acts carried out by five world top-class national gymnasts in the parallel bars 3-dimensional cinematographic analysis and EMG analysis were conducted and following conclusion were obtained. The Tippelt motions of excellent national gymnasts perform tap motion through the down swing of a large circular movements, and perform kick-out motion rapidly extending shoulder joint angle and hip joint angle with the trunk in a position close to perpendicular position at the vertical downwardness of the grasping the bars. At this time, if handstand starting the movement is too delayed or rapidly down swung, it was shown that from the initial falling, unnecessary muscular power was wasted in trapezius, anterior deltoid, erector spinae, latissimus dorsi, upper rectus abdominis, lower rectus abdominis. The muscular parts in tap motion generating muscle action potential were pectoralis major, rectus femoris, upper rectus abdominis, lower rectus abdominis, and those in kick-out motion were upper rectus abdominis, lower rectus abdominis, trapezius and anterior deltoid.

• Advances in robotics research
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• 제2권3호
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• pp.237-245
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• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

• 한국전문물리치료학회지
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• 제27권1호
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• pp.38-44
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• 2020

Background: Posterior shoulder tightness, which is a problem mainly seen in patients with shoulder impingement syndrome, disrupts the scapulohumeral rhythm between the humerus and scapulae. Objects: The aim of this study was to compare the effects of joint mobilization and stretching on shoulder muscle activity and internal rotation range of motion (ROM) of the glenohumeral joint in patients with impingement syndrome with posterior shoulder tightness. Methods: The research subjects included 22 in-patients with impingement syndrome with posterior shoulder tightness. They were randomly divided into two groups: one group (12 patients) was treated with joint mobilization and the other group (10 patients) was treated with stretching for the posterior shoulder tightness. Each treatment was performed five times a week for two weeks, and there were 15 sessions for each treatment. The ROM of the internal rotation and muscle activities of shoulder joint were evaluated pretest and posttest in each group. Electromyography data were collected from the upper, middle, and lower trapezius and serratus anterior during shoulder abduction of 90°, 120°, and 150°. Results: Both the joint mobilization and stretching groups showed significant decreases in muscle activity in the upper, middle, and lower trapezius on the posttest (p < 0.05). There was a significant difference in serratus anterior at 150° (p < 0.05), but there was no significant difference between group in post-hoc analysis (p > 0.025). The internal rotation ROM was significantly increased in the stretching group compared to that in the joint mobilization group (p < 0.025). Conclusion: This study found that both joint mobilization and stretching for posterior shoulder tightness were effective in muscle activity during arm abduction, also in order to increase internal rotation ROM of shoulder joint, stretching was effective in patients with impingement syndrome with posterior tightness.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제14권1_2호
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• pp.146-153
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• 1992

In the outpatient clinic, we have many patients who suffer from temporomandibular joint disorders. These vary from MPD syndrome to osteoarthrosis, and many cases have tender spots or areas on the temporomandibular joint region and/or masticatory muscles. Further, they frequently have masticatory muscle pain when opening the jaw. This paper presents the results of our research on the differential diagnosis for tendernesses and pain on opening the jaw in the temporomandibular joint region and the masticatory muscles by joint cavity pumping with local anesthestic. The areas of tenderness and jae-opening paw in 65 patient suffering from temporomandibular joint disorder were examined and recorded before and after anesthetizing the upper joint cavity with 2% lidocaine. Maximum interincisal distance was similarly recorded. The results were as follows : In the area surrounding the upper joint cavity including the lateral pterygoid muscle, the tenderness and jaw-opening pain vanished almost entirely after anesthesia. This was considered a direct infiltrative effect of the local anesthesia. After the anesthesia, 86% of the tendernesses on the sternocleidomastoid muscles, and 66% of those on the posterior belly of the diagstric muscles vanished, while the disappearance rates on the masseter, temporal, and medial pterygoid muscles were 50~60%. Apart from the temporomandibular region, pain on opening the jaw was found on the masseter, temporal, posterior belly of the digastric muscles, and medial pterygoid muscles before anesthesia. The disappearance rates after anesthesia were 90~100% except for the pain of the posterior belly of the digastric muscles, for which the rate was 66%. These results suggest that more than 88% of the tendernesses on the sternocleidomastoid muscle, more than 60% of the tendernesses and jaw-opening pains on the digastric muscle, and more than half of the tendernesses and almost all of the jaw-opening pains in the jaw-closing muscles are referred pains from the temporomandibular joint. The tendernesses that had no change after anesthesia were considered to be derived from spasms of the muscles proper. Generally, maximum interincisal distance increased after anesthesia. The average distance was 34mm before anesthesia, but increased to 41mm after anesthesia. In a few cases, however little or no change was found in those distances. In these cases, pathological changes were found in the joint cavities arthrographically or arthroscopically.

• 대한의용생체공학회:의공학회지
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• 제24권6호
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• pp.543-548
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• 2003

Injuries of wrist in upper extremity is common onset in industrialized world. The development of joint arthroplasty and mechanical joint is area of research for biomechanical engineer and surgeon for a decade. Therefore. the knowledge of characteristic of joint motion is essential to develop the artificial wrist joint. In this study. the joint motions of wrist required for activities of daily living (ADLs). including personal hygiene and care. and general home activity were measured using flexible electrogoniometer. Total of 25 different daily activities were separated into four groups and tested on 15 subjects who did not show any abnormality of their joint functions. The maximum functional range of motion required for ADLs were obtained and standardized for analysis and comparison. Also. a least functional range of motion for ADLs were investigated. Results revealed that any significant differences were not found in least functional range of motion between left and right wrist to perform ADLs. However. a significant difference was found in different ADLs. Therefore. least range of motion obtained in this study can be used as basic data to design artificial joint and set a goal for surgeon to achieve appropriate treatment from patients.