• 제목/요약/키워드: Whole-body

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단순인체모델 기반 휴머노이드의 인간형 전신동작 생성 (Human-like Whole Body Motion Generation of Humanoid Based on Simplified Human Model)

  • 김창환;김승수;나성권;유범재
    • 로봇학회논문지
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    • 제3권4호
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    • pp.287-299
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    • 2008
  • People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

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조종 숙련도 변화에 따른 심리적 리스크 이미지의 변화에 대한 평가 (Assesment on the Transformation of Psychological Risk Images due to Development of Flight Skills)

  • 김영관;임현교
    • 대한인간공학회지
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    • 제22권1호
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    • pp.57-67
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    • 2003
  • The resonance behaviour needs be understood to identify the mechanisms responsible for the dynamic characteristics of human body, to allow for the non-linearity when predicting the influence of seating dynamics. and to predict the adverse effects caused by various magnitudes of vibration. However, there are currently no known studies on the effect of vibration magnitude on the transmissibility to thoracic or lumbar spine of the seated person. despite low back pain(LBP) being the most common ailment associated with whole-body vibration. The objective of this paper is to develop a proper mathematical human model for LBP and musculoskeletal injury of the crew in a maritime vehicle. In this study, 7 degree-of-freedom including 2 non-rigid mass representing wobbling visceral and intestine mass, is proposed. Also. when compared with previously published experimental results, the model response was found to be well-matching. When exposed to various of vertical vibration, the human model shows appreciable non-linearity in its biodynamic responses. The relationships of resonance for LBP and musculoskeletal injury during whole-body vibration are also explained.

Three Freshwater Lembadion Ciliates (Peniculida, Lembadionidae) Newly Reported from Korea

  • Kim, Sung Hoon;Yoon, Jae Sool;Yoon, Seong Myeong;Shin, Mann Kyoon
    • Animal Systematics, Evolution and Diversity
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    • 제33권4호
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    • pp.246-255
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    • 2017
  • Three freshwater ciliates, Lembadion lucens (Maskell, 1887) Kahl, 1931, L. bullinum ($M{\ddot{u}}ller$, 1786) Perty, 1849, and L. magnum (Stokes, 1887) Kahl, 1931, belonging to the genus Lembadion Perty, 1849 are newly reported from Korea with detailed descriptions and illustrations based on live observation and protargol impregnation. Lembadion lucens is characterized by following characteristics: $52-91{\times}33-64{\mu}m$ body size in vivo; ovoid and slightly asymmetric body shape; 27-49 somatic kineties; and 55-80% of whole pellicle covered with meridional lines with rectangular meshes in posterior portion. Lembadion bullinum is distinguishable from its congeners by its body size of $110-130{\times}60-73{\mu}m$ in vivo; ovoid body shape; oral aperture occupying about four-fifths of ventral side; 48-55 somatic ciliary rows; meridional lines with rectangular meshes except anterior portion (about 16% of body) on pellicle. Lembadion magnum is also characterized by its body size of $70-90{\times}37-50{\mu}m$ in vivo; obliquely asymmetric anterior end of body; oral aperture occupying about more than four-fifths of ventral surface, and opened longitudinally entire ventral surface; 45-61 somatic ciliary rows; meridional lines without rectangular meshes on whole pellicle of body. The present study is the first description of the genus Lembadion from Korea.

정적 스쿼트 동작 시 발란스 보드와 전신 진동자극기 적용이 신체 근활성도 변화에 미치는 영향 (Effect of Balance Board and Whole-body Vibration Stimulator Application on Body Muscle Activities during Static Squat Motion)

  • 김유신;김대훈
    • 한국응용과학기술학회지
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    • 제37권4호
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    • pp.755-761
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    • 2020
  • 본 연구의 목적은 정적 스쿼트 동작 시 발란스 보드와 전신 진동자극기 적용이 신체 근육의 근활성도 변화에 어떠한 영향을 미치는지 검증하는 것이었다. 본 연구의 대상자는 20대 남성 20명을 대상으로 실시하였고(연령, 21.90±0.36 세; 신장, 174.30±1.09 cm; 체중, 66.50±1.00 kg; 신체질량지수, 21.90±0.31 kg/㎡), 3가지의 기본 정적 스쿼트 동작, 발란스 보드를 적용한 정적 스쿼트 동작 및 전신 진동자극기를 적용한 정적 스쿼트 동작을 수행하였으며, 표면전극을 부착한 부위는 신체 근육의 우측 복직근, 내복사근, 외복사근, 대퇴직근, 외측광근 및 내측광근으로 설정하였다. 실험을 통해 획득된 본 연구의 결과는 다음과 같다. 복직근, 내복사근 및 외복사근의 근활성도는 발란스 보드와 전신 진동자극기를 적용한 정적 스쿼트 동작 시 통계적으로 높게 나타났고(p=.001, p=.004, p=.000), 대퇴직근, 외측광근 및 내측광근의 근활성도는 전신 진동자극기를 적용한 정적 스쿼트 동작에서 통계적으로 가장 높게 나타났다(p=.000). 본 연구의 결과는 향후 정적 스쿼트 훈련 적용 시 효과적인 신체 근육을 강화시키기 위한 프로그램의 기초 자료가 될 것으로 기대된다.

Effect of Genotype on Whole-body and Intestinal Metabolic Response to Monensin in Mice

  • Fan, Y.K.;Croom, W.J.;Daniel, Linda;McBride, B.W.;Koci, M.;Havenstein, G.B.;Eisen, E.J.
    • Asian-Australasian Journal of Animal Sciences
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    • 제19권4호
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    • pp.554-562
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    • 2006
  • Two lines of mice, M16 selected for rapid growth and a randomly selected control ICR as well as their reciprocal crosses were used to study the effects of genotype on whole-body energetics and intestinal responses to monensin. Six mice, eight weeks of age, from each line or reciprocal cross were assigned to one of two treatments, 1) drinking water containing 20 mmol/L monensin dissolved in 0.5% V/V ethanol, and 2) drinking water containing 0.5% V/V ethanol (control) for two weeks. After 11 days (age of 9 weeks and 4 days), whole-body $O_2$ consumption was measured. At the end of two weeks, jejunal $O_2$ consumption, intestinal tissue composition and histomorphometrics as well as the rate and efficiency of glucose absorption were estimated. In comparison with the control, monensin administration in drinking water resulted in less daily water intake (13.4 vs. 15.5 ml/mouse, p<0.01), less protein to DNA ratio of jejunal mucosa (5.41 vs. 6.01 mg/mg, p<0.05), lower villus width (88 vs. $100{\mu}m$, p<0.05), and less jejunal tissue $O_2$ consumption enhancement by alcohol (7.2 vs. 10.5%, p<0.01) in mice. Other than those changes, monensin had little (p>0.05) effect on variables measured in either line of mice or their reciprocal cross. In contrast, the M16 line, selected for rapid growth, as compared to the ICR controls or the reciprocal crosses, had less initial (pre-monensin treatment) whole-body $O_2$ consumption per gram of body weight (1.68 vs. $2.11-2.34{\mu}mol/min{\cdot}g$ BW, p<0.01) as compared to the ICR and reciprocal crosses. In addition, the M16 mice exhibited greater growth (412 vs. 137-210 mg/d, p<0.05), better feed efficiency (41.7 vs. 19.9-29.3 mg gain/g feed, p<0.05), shorter small intestines adjusted for fasted body weight (1.00 vs. 1.22-1.44 cm/g FBW, p<0.05), wider villi (109 vs. $87-93{\mu}m$, p<0.05), more mature height of enterocytes (28.8 vs. $24.4-25.1{\mu}m$, p<0.05) and a lower rate (91 vs. $133-145{\eta}mol\;glucose/min{\cdot}g$ jejunum, p<0.05) and less energetic efficiency (95 vs. $59-72{\eta}mol$ ATP expended/${\eta}mol$ glucose uptake, p<0.05) of glucose absorption compared to the ICR line and the reciprocal cross. Monensin had little (p>0.05) effect on whole-body $O_2$ consumption and jejunal function, whilst selection for rapid growth resulted in an apparent down-regulation of intestinal function. These data suggest that genetic selection for increased growth does not result in concomitant changes in intestinal function. This asynchrony in the selection for production traits and intestinal function may hinder full phenotypic expression of genotypic growth potential.

Does Strategy of Downward Stepping Stair Due to Load of Additional Weight Affect Lower Limb's Kinetic Mechanism?

  • Ryew, Checheong;Yoo, Taeseok;Hyun, Seunghyun
    • International journal of advanced smart convergence
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    • 제9권4호
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    • pp.26-33
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    • 2020
  • This study measured the downward stepping movement relative to weight change (no load, and 10%, 20%, 30% of body weight respectively of adult male (n=10) from standardized stair (rise of 0.3 m, tread of 0.29 m, width of 1 m). The 3-dimensional cinematography and ground reaction force were also utilized for analysis of leg stiffness: Peak vertical force, change in stance phase leg length, Torque of whole body, kinematic variables. The strategy heightened the leg stiffness and standardized vertical ground reaction force relative to the added weights (p<.01). Torque showed rather larger rotational force in case of no load, but less in 10% of body weight (p<.05). Similarly angle of hip joint showed most extended in no-load, but most flexed in 10% of body weight (p<.05). Inclined angle of body trunk showed largest range in posterior direction in no-load, but in vertical line nearly relative to added weights (p<.001). Thus the result of the study proved that downward stepping strategy altered from height of 30 cm, regardless of added weight, did not affect velocity and length of lower leg. But added weight contributed to more vertical impulse force and increase of rigidity of whole body than forward rotational torque under condition of altered stepping strategy. In future study, the experimental on effect of weight change and alteration of downward stepping strategy using ankle joint may provide helpful information for development of enhanced program of prevention and rehabilitation on motor performance and injury.

전신진동과 부분진동에 대한 인간의 응답특성 (Response Characteristics of Human by Whole-body Vibration and Hand-arm Vibration)

  • 장호경
    • 한국의학물리학회지:의학물리
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    • 제5권2호
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    • pp.77-85
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    • 1994
  • 이 논문에서는 전신 과 손-팔에 전달된 진동에 대해 사람들의 주관적 진동 응답특성을 연구하였다. 인간의 진동 노출 한계를 정의하기 위하여 ISO Standard 2631 에서 지정한 일련의 진동 한계 실험 측정치를 조사하였다. 이 기준에 따라 진동에 대한 인간의 진동 응답 계산을 위한 방법이 설명되었다.

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전신촬영용 MRI cryostat 개발 (Development of cryostat for whole body MRI)

  • 김성래;류충식;이홍주;오원균;주진득;권오범;권영길;조전욱;배준한
    • 한국초전도저온공학회:학술대회논문집
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    • 한국초전도저온공학회 2000년도 KIASC Conference 2000 / 2000년도 학술대회 논문집
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    • pp.39-42
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    • 2000
  • The cryostat with refrigerator for whole body MRI had been designed and fabrication data were discuss in this paper. These results will be applied to commercial MRI cryostat in the fucature.

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