• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• Clinics in Shoulder and Elbow
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• v.6 no.1
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• pp.37-43
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• 2003

Purpose: To evaluate the results in patients who received total elbow replacement for posttraumatic destroyed or unreduced elbow joint. Materials and Methods: Six patients with posttraumatic destroyed, or unreduced elbow joint, who were nearly impossible to move actively and had pain and grossly unstable joint, were followed up average 42 months. 3 cases were soft tissue injuries and bone defects which were caused by severe comminuted fracture, 1 was a nonunion with comminuted fracture, and 2 were unreduced elbow joint. Total elbow replacement was performed average 10 months after the injury. All the cases were used by semiconstrained prosthesis, and the results were estimated by Mayo elbow perfomance score. Results: Pain was decreased in all the cases postoperatively. Average ranges of motion were improved with active extension 20° and flexion 120°. Mayo elbow performance scores were pain 42.5 points, range of motion 17.5 points, stability 8.3 points, function 19.2 points and totally 87.5 points, and final results were 3 excellent and 3 good. Loosening of prosthesis was not found in all the cases by final follow-up radiograph. Conclusicon: Semiconstrained TER can be used as a effective treatment improving pain and active ranges of motion caused by posttraumatic destroyed or unreduced elbow joint, however, long term follow-up is needed because early loosening of TER can be occurred due to severe bone defects.

• Physical Therapy Rehabilitation Science
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• v.9 no.3
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• pp.171-177
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• 2020

Objective: This study aimed to investigate the upper limb strength, active joint range of motion (AROM), and upper limb function in persons with chronic stroke using virtual reality training in combination with upper limb sensory stimulation. Design: Two-group pretest-posttest design. Methods: 20 subjects were divided into two groups of 10, the sensory motor stimulation and virtual reality training (SMVR) and virtual reality training (VR) groups. The training was conducted for 30 minutes per session, three times a week for 8 weeks.The participants' upper limb strength was measured via the hand-held dynamometer, joint angle AROM was measured via dual inclinometer, function was measured using the Jebson-Taylor hand function test and the manual function test. Results: Significant differences were observed in all groups before and after the training for upper extremity strength, AROM, and function (p<0.05). Between the two groups, the SMVR group showed significant improvement in muscle strength, AROM, and Jebsen-Taylor hand function test scores compared with the VR groups (p<0.05). Conclusions: In this study, we confirmed that sensory stimulation and VR had positive effects on upper extremity strength, AROM, and function of persons with chronic stroke. The results suggest that in the future, VR in combination with sensory stimulation of the upper limb is likely to become an effective method (a rehabilitation training program) to improve the upper limb function of persons with chronic stroke.

• The Journal of Korean Physical Therapy
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• v.16 no.4
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• pp.283-296
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• 2004

Joint mobilization and mechanical traction are common treatment forms for mechanical cervical spine problem. The purpose of the study was to investigate the effectiveness of cervical mobilization and mechanical traction on active range of motion of cervical spine. Sixty volunteers, aged between 21 and 24 years (mean age 22), were recruited. Each subject was divided into one of three groups; mechanical traction, general coordinative manipulation, and mobilization group. Active range of motions in the cervical were measured before and after each treatment technique from each subject on the three occasions. In the cervical range of motion, all subjects regardless treatment technique showed significantly increasing ranges after applied treatment technique in all directions except extension and left rotation in the mobilization group.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.157-160
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• 2011

In this paper, We proposed the method of recognition and analysis of human activites using Motion vector in real-time surveillance system. We employs subtraction image techniques to detect blob(human) in the foreground. When MPEG-4 video recording EPZS(Enhanced Predicted Zonal Search) is detected the values of motion vectors were used. In this paper, the activities of human recognize and classified such as meta-classes like this {Active, Inactive}, {Moving, Non-moving}, {Walking, Running}. Each step was separated using a step-by-step threshold values. We created approximately 150 conditions for the simulation. As a result, We showed a high success rate about 86~98% to distinguish each steps in simulation image.

• Journal of Korea Multimedia Society
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• v.24 no.8
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• pp.1035-1043
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• 2021

The shoulder is less stable than other joints, making it easier to onset of various shoulder disorders. In addition, limited range of motion and pain in the shoulder due to shoulder disorders restricts daily life and social activities. The problem with exercise therapy can be reduced in exercise effect by causing boredom through simple repetition of motion, thus reducing the patient's willingness to participate. Therefore, this paper aims to provide a treatment method that can induce active participation of patients by developing devices capable of passive, active, and resistance exercise and serious game contents using them. Furthermore, sEMG was used to verify whether the rotational exercise in the horizontal and vertical using serious game contents helps the shoulder movement actually. The measured sEMG signal was classified as 5 phases according to the angle of rotation and calculated the mean integrated EMG. The mean integrated EMG for the experimental results was higher in all phases when rotational was performed compared to those when both horizontal and vertical rotational exercise remained initial posture, indicating an increase in muscle activity.

• International Journal of Automotive Technology
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• v.7 no.4
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• pp.469-475
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• 2006

In this paper, an optimal suspension system with preview of the road input is synthesized for a half tracked vehicle. The main goal of this research is to improve the ride comfort characteristics of a fast moving tracked vehicle in order to maintain the driver's driving capability. Several different kinds of preview control algorithms are evaluated with active or semi-active suspension systems. The road information estimated from the motion of the 1st road-wheel is adequate to make the best use of the preview control algorithm for tracked vehicles. The ride-comfort characteristics of the tracked vehicle are more dependent on pitching angular acceleration than heaving acceleration. The pitching motion is reduced by the suspension system with hard outer suspensions and soft inner suspensions. Simulation results show that the performance of sky-hook algorithms for ride comfort nearly follow that of full state feedback algorithms.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.236-246
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• 2006

Motion tracking and object segmentation are the most fundamental and critical problems in vision tasks such as motion analysis. An active contour model, snake, was developed as a useful segmenting and tracking tool for rigid or non-rigid objects. In this paper, the development of new snake model called 'adaptive color snake model (ACSM)' for segmentation and tracking is introduced. The simple operation makes the algorithm runs in real-time. For robust tracking, the condensation algorithm was adopted to control the parameters of ACSM. The effectiveness of the ACSM is verified by appropriate simulations and experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.451-456
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• 2006

This paper is concerned with the dynamic modeling and controller design for a cylindrical shell equipped with MFC actuators. The dynamic model was derived by using Rayleigh-Ritz method based on Donnel-Mushtari shell theory. The actuator and sensors for the MFC actuator equations were derived based on pin-force model. The boundary conditions at both ends were assumed to be shear diaphragm. After calculating the natural vibration characteristics, the positive position feedback controller was designed to cope with the first two modes. To this end, the equations of motion were reduced to modal equations of motion by considering the modes of interest. The theoretical results show that vibrations can be successfully suppressed.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.7
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• pp.564-572
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• 2002

This article describes the ultrasonic range sensor for the recognition of the Indoor environment, especially utilizing the multiple reflection properties of the sonar usually ignored as disturbances or noises. In this paper, we endow the ultrasonic range sensor with the active motion using the stepping servomechanism in order to get the multiple reflections with environment objects. Environment features such as target type, distance and azimuth based on the scanned one frame data of that multiple reflection patterns are recognized simultaneously.