• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.175-180
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• 1993

The nonlinear integro-differential equations of motion of a two-link structurally flexible planar manipulator executing contact tasks are presented. The equations of motion are derived using the extended Hamilton's principle and the Galerkin criterion. Also, Models for the wrist-force sensor and impact that occurs when the manipulator's end point makes contact withthe environment are presented. The dynamic models presented can be used to studythe dynamics of the system and to design controllers.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.16-21
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• 2007

Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.974-979
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• 1990

The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.129-132
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• 2008

손목에 착용하여 맥파와 산소포화도 등의 정보를 측정할 수 있는 유비쿼터스 광센서를 개발하였다. 유비쿼터스 광센서의 SNR의 향상을 위해 660nm의 LD와 904nm의 LD를 사용하였으며, 2종류의 LD는 각각 PD를 중심으로 $120^{\circ}$로 배치하였다. 또한 정확한 신호의 측정 및 분석을 위해 LabVIEW를 사용하였다. 제작된 광센서는 정확한 맥박 및 산소포화도의 측정이 가능하였으며 Beer-Lambert 곡선과 부합하여, 구성 및 설계가 정확함을 알 수 있다.

• Proceedings of the Korean Magnestics Society Conference
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• 2013.12a
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• pp.73-74
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• 2013

• Investigative Magnetic Resonance Imaging
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• v.26 no.1
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• pp.71-75
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• 2022

Tuberculous epididymo-orchitis, a rare form of extrapulmonary tuberculosis, results from hematogenous dissemination or retrograde extension from the lower urinary tract. Herein, we studied the case of a 22-year-old male patient who presented with refractory left scrotal pain and inflammation. The patient also complained of multifocal pain involving the right buttock, posterior thigh, and right wrist, without trauma history. The patient was diagnosed with multifocal tuberculosis by sputum AFB study and right sacroiliac joint biopsy.

• Journal of Korean Physical Therapy Science
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• v.15 no.4
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• pp.27-34
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• 2008

Background: This study was designed to analyze Repetitive dorsiflexion exercises in ankles have effects on the active range of flexion and extension motion through lumbar, cervical spine and ankle, wrist joints. Methods: 30 female college students in their twenties who frequently wear high heels participated the number of the experimental group was 15 persons and the number of the control group was 15 persons. They did exercise at the physical therapy room in M college, from the 8th of March to the 11th of April 2007. The experimental group had used the model of dorsiflexion repetitive exercise three times per week, for 4 weeks, but the control group did not exercise at all. In the sagittal plane active ROM of the these spine and joints were measured before and after the experiment using a digital goniometer. The results of two groups were compared and analyzed using paired T-test. Results: The active range of flexion and extension motion of the vertebra(especially lumbar flexion) and distal joints were significantly different in exercise group(p<.05). Conclusion: The model of repetitive dorsiflexion exercise of the ankle joint had positive effects on improving the active range of flexion and extension motion of the lumbar vertebra and distal joints of limbs. The results suggest that the repetitive dorsiflexion exercise is useful and also effective therapy for improving motion in women usually wearing high-heel.

• The Journal of Korean Physical Therapy
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• v.20 no.3
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• pp.45-51
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• 2008

Purpose: We evaluated the physical stress and pain to the musculoskeletal system of a dental practitioner when engaging in a dental scaling training exercise to prevent the development of musculoskeletal injuries. Methods: The 18 female (average age: 21$\pm$1 years) subjects were voluntarily picked from a group of juniors who have completed a one-and-a-half year training course that includes training exercises on the dentiform and on live subjects (other trainees). The test is done by measuring pain, activity, grip strength, and finger dexterity for each subject's hand and wrist. Before the test all subjects were confirmed to be right-handed and were informed of the study and its objective. Measuring was done before and after each subject performed dental scaling for one hour using the scaler and the curet. Results: Pain levels increased for both hand and shoulders, but hand pain was often greater than shoulder pain. Grip strength significantly declined in the right hand but not the left. For joint mobility, the flexion and the extension for the shoulder joint did not change; but the range of motion for both wrist joints significantly increased. For the dexterity test, both hands showed increased dexterity after the exercise. Conclusion: Dental scaling can affect the shoulders and wrists/hands. Therefore, a musculoskeletal injury prevention program for dental practitioners, which may include encouraging them to assume correct body posture when at work, must be sought. This study evaluated only the shoulders, wrists, and hands; but future studies should include areas such as the cervical area, the back, and the lower limbs.

• Journal of Korean Medicine Rehabilitation
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• v.20 no.1
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• pp.79-90
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• 2010

Objectives : Tai Chi for arthritis was developed in 1997 by Paul Lam, M.D. of family medicine in Australia. It is an exercise treatment program and a good approaching method for arthritis. However its application is limited to arthritis of knee joint only. Even there have been no clinical study in korean traditional medical society. The aim of this study is to investigate effect of the Tai Chi for arthritis on chronic pain of body. Methods : We designed this trial as objectives were (1) senior female over 60 years, (2) suffering for osteoarthritis and chronic body pain, (3) have no physical or mental dysfunctions (4) able to walk and exercise alone. Objectives mactched these criteria had been trained the Tai Chi for arthritis 2 hours a day for 21 weeks. Before and after training, pain of 8 joints (neck, shoulder, elbow, wrist, waist, hip, knee, ankle) were estimated with the VAS(Visual Analog Scale). Results : Training the Tai Chi for arthritis relieved multiple joint pain(especially neck, lower back, shoulder, wrist and knee) and these were statistically significant. Conclusions : This study is a pilot study to investigate effect of the Tai Chi for arthritis on chronic pain of whole body. Absence of control group, and other scale to test joint function except VAS were limitations of this study. It is the first clinical approach about Tai Chi in korean medicine field, also the first study of Tai Chi for pain of the whole body.