• PNF and Movement
• /
• v.20 no.2
• /
• pp.295-306
• /
• 2022

Purpose: This study aimed to investigate the effect of robot-assisted gait training on the active ranges of motion, gait abilities, and biomechanical characteristics of gait in patients who underwent lower extremity surgery, and to verify the effectiveness and clinical usefulness of robot-assisted gait training. Methods: This study was conducted on 14 subjects who underwent lower extremity surgery. The subjects participated in robot-assisted gait training for 2 weeks. The active ranges of motion of the lower extremities were evaluated, and gait abilities were assessed using 10-m and 2-min walk tests. An STT Systems Inertial Measurement Unit was used to collect data on biomechanical characteristics during gait. Spatiotemporal parameters were used to measure cadence, step length, and velocity, and kinematic parameters were used to measure hip and knee joint movement during gait. Results: Significant improvements in the active ranges of motion of the hip and knee joints (flexion, extension, abduction, and adduction) and in the 10-m and 2-min walk test results were observed after robot-assisted gait training (p < 0.05). In addition, biomechanical characteristics of gait, spatiotemporal factors (cadence, step length, and velocity), and kinematic factors (gait hip flexion-extension, internal rotation-external rotation angle, and knee joint flexion-extension) were also significantly improved (p < 0.05). Conclusion: The results of this study are of clinical importance as they demonstrate that robot-assisted gait training can be used as an effective intervention method for patients who have undergone lower extremity surgery. Furthermore, the findings of this study are clinically meaningful as they expand the scope of robot-assisted gait training, which is currently mainly applied to patients with central nervous system conditions.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
• /
• v.28 no.2
• /
• pp.67-75
• /
• 2022

Background: Scapular winging is a rare disorder that is commonly caused by nerve damage of the dorsal scapular nerve, spinal accessory nerve, or the long thoracic nerve. This affects the scapulohumeral rhythm which may cause abnormal kinetic motion of the shoulder. The purpose of this case report is to describe a self-exercise oriented management incorporating shoulder strengthening to reduce symptoms in a shoulder pain patient with winging scapular. Methods: A 45 year old male patient complained of pain in his both shoulders without any trauma. Shoulders were treated with steroid injections for supraspinatus tendonitis, but although pain improved to some extent, pain and disability continued for 3 months. Both shoulders had pain, decreased active range of motions, muscles weakness, and scapular winging. The patient underwent 9 interventional sessions over 3 months and was managed mainly by self-exercise. The intervention method involved push up plus, sling, muscle strengthening, and stabilization exercises. Loads were increased as symptoms improved. Results: Clinical outcomes were measured at every session. Pain in both shoulders reduced to 0 on a numerical pain rate scale by the 4th session, and the active range of motion was fully recovered. During the 9th session, the strength of the serratus anterior had improved from grade P to G on the right side and grade G to N grade on the left. Conclusion: In this case study, the self-exercise program was effective in reducing pain, increasing active range of motion, and improving muscle strength in subjects with scapular winging.

• Proceedings of the IEEK Conference
• /
• 2002.06d
• /
• pp.141-144
• /
• 2002

This paper describes a new feature based tracking system that can track moving objects with a pan-tilt camera. We extract corner features of the scene and tracks the features using filtering, The global motion energy caused by camera movement is eliminated by finding the maximal matching position between consecutive frames using Pyramidal template matching. The region of moving object is segmented by clustering the motion trajectories and command the pan-tilt controller to follow the object such that the object will always lie at the center of the camera. The proposed system has demonstrated good performance for several video sequences.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2004.04a
• /
• pp.285-290
• /
• 2004

Wave exciting force and moment generate the motions of a ship in waves. Since ship motion exerts the negative influences on a crew's operability, the safety of cargos, passenger's comfort, etc, the anti-rolling devices may be required to reduce such motion. In this paper, the dynamics of the anti-rolling devices such as passive and active moving weight stabilizer and anti-rolling tank, and fin stabilizer are mathematically modeled. While the effect of the motion of the anti-rolling device on a ship was taken into consideration in roll mode only in the past, the 6 DOF coupled equations of motion between a ship and the anti-rolling devices are constituted. Finally the motion of a ship with anti-rolling devices in waves is simulated through the developed simulation program.

• Journal of KSNVE
• /
• v.20 no.6
• /
• pp.24-28
• /
• 2010

Many methodologies have been explored to reduce helicopter vibration. Trailing edge flaps for such a purpose have been studied for the past twenty years. A brief overview of the introduction of active vibration controls using trailing edge flaps and smart actuators is presented in series. This is the fourth article, in which a piezoelectric resonant actuation system with a buckling-beam motion amplifier for active trailing edge flaps is presented.

• Journal of the Society of Naval Architects of Korea
• /
• v.32 no.1
• /
• pp.94-102
• /
• 1995

The active control system of structural vibration using a hydraulic actuator is developed. The developed system consists of three parts : a hydraulic unit, an actuator unit and a control unit. Structural vibration is sensored by the accelerometer attached to the structure and reduced by the optimally controlled motion of active mass giving anti-phase inertia force to the structure. It is experimentally confirmed that the vibration level of model structure is reduced to about 1/6 by the developed active control system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.146-154
• /
• 2000

An $H\infty$ controller is designed for active suspensions of vehicles using 7-degree-of-freedom full-car model. Its performance robustness as well as stability robustness to system parameter variations and unmodelled dynamics are assured through the $\mu$-framework. The performance of the $H\infty$ controller is compared with that of a LQC controller in compute simulations. From the simulations it is found that the active suspension with the $H\infty$ controller reduces the acceleration and motion of the sprung mass in the heaving rolling and pitching directions when the car is driven on a normal road or through an asymmetric bump. The suspension stroke and the road holding capability are also improved with a relatively small level of power consumption. Overall the $H\infty$ controller shows a more robust performance than that of the LQG design.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.871-875
• /
• 1996

The Output feedback linear quadratic regulator control is applied to the design of active suspension system using 7 DOF full car model. The performance index reflects the vehicle vertical movement, pitch and roll motion, and minimization of suspension stroke displacements in the rattle space. The elements of gain matrix are approximately decoupled so that each suspension requires only local information to generate the control force. The simulation results indicates that the output feedback LQ controller is more effective than purely passive or full state feedback active LQ controllers in following the road profile at the low frequency range and suppressing the road disturbance at the high frequency ranges.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.04a
• /
• pp.63-70
• /
• 2008

In this paper, we propose a bearing redundant coordinates and decoupled PD controller for 5-axes active magnetic bearing system, which consists of two bearing parts such as three-pole hybrid active magnetic bearing for stabilize the radial direction and ring-type permanent magnetic bearing stabilizing in axial and tilting motion. Based on derived system equation with decoupled control scheme, we conduct the modal analysis and measure of modal controllability and observability.

• Journal of Mechanical Science and Technology
• /
• v.15 no.2
• /
• pp.199-209
• /
• 2001

Modal analysis method (MAM) is introduced for the fully coupled structural dynamic problems. In this paper, the beam with active constrained layered damping (ACLD) treatment is considered as a representative problem. The ACLD beam consists of a viscoelastic layer that is sandwiched between the base beam structure and an active piezoelectric layer. The exact damped natural modes are spectrally formulated from a set of fully coupled dynamic equations of motion. The orthogonality property of the exact damped natural modes is then derived in a closed form to complete the modal analysis method. The accuracy of the present MAM is evaluated through some illustrative examples: the dynamic characteristics obtained by the present MAM are compared with the results by spectral element method (SEM) and finite element method (FEM). It is numerically proved that MAM solutions become identical to the accurate SEM solutions as the number of exact natural used in MAM is increased.