• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.769-776
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• 2007

This paper proposes the human arm motion tracking algorithm based on the signal processing for surface EMG (electromyogram) sensors attached on both upper arm and shoulder. The signals acquired by using surface EMG sensors are processed with choosing the maximum in a short period, taking the absolute value, and filtering noises out with a low-pass filter. The processed signals are directly used for the motion generation of virtual arm in real time simulator. The virtual arm of simulator has two degrees of freedom and complies with the flexion and extension motions of elbow and shoulder. Also, we show the validity of the suggested algorithms through the experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.395-396
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• 2006

This paper presents the optimal design of Robot-Arm part use Design of Experiment(DOE). The DOE(Design of Experiment)was conducted to find out main effect factors for design of Robot-Arm part. In this design of Robot-Arm, 5 control factors include numbers of 4 level are selected and we make out L16 orthogonal array. Using this orthogonal array, find out optimal value and main effect factors of object function for design of Robot-Arm part by 16 times of test. We evidence this optimal value by using CATIA V5 Analysis.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.211-215
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• 2004

This paper describes the result of structure analysis and load test of torque arm for driving gear unit. The purpose of the analysis and test is to evaluate an safety which torque arm shall be considered fully sufficient rigidity so as to satisfy proper system function under maximum load. Driving gear unit consist of gearbox and torque arm. Both components, torque arm is significant component subjected to the vehicle and motor loads. The evaluation methode is used the FEM analysis, static and fatigue test. The test results have been very safety and stable for design load conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2116-2119
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• 2005

Inverted pendulum is a classical example and a famous tool for testing the effectiveness of many control schemes. Owing to their nonlinearity and unstable characteristic, a controller development either for swinging-up or stabilizing its upright position had been a great interest of many researchers. In this paper, the swinging-up control of the inverted pendulum using energy control will be presented. However, the saturation function in its control law could harm the experimental equipments. In addition, this swinging-up method did not consider limited sector of the arm angle to avoid another hazard, for instance, the twisted cable in the apparatus. Therefore, in this paper the position control of the arm angle using simple PD control in accordance with the energy control is proposed. Consequently, the limited arm sector angle can be achieved and the saturation function can also be replaced effectively by the PD control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3038-3047
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• 1996

In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand has drawn an interesting attention. As such a task ingenerally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of have position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effctiveness of the proposed algorithm is verified through a series of simulations and experiments. The results show that through the learning procedure, the slave arm and track object in real time with reasonable accuracy.

• Journal of Physiology & Pathology in Korean Medicine
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• v.25 no.1
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• pp.8-18
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• 2011

To have effective treatment for shoulder arm pain, we searched the cause, symptom, etiology, classification of the pain areas, acupuncture points, and muscles along the meridians, and acquired the following results. Shoulder-pain is mainly divided into the malfunction of viscera and entrails, damage due to the weakness of essence and qi, abnormal status of muscle function, change of joints, disease in the nerve and vessel, and the internal injury due to seven modes of emotions. Pain of shoulder joints are pain in the local area of shoulder joints, referred pain of shoulder, neck, and shoulder-arm, numbnes and swelling of muscle, and muslce weakness. Shoulder-arm pain is classified as four types of pain: shoulder-joint pain, shoulder-back pain, shoulder-chest pain, and shoulder-arm-elbow pain. And shoulder-arm-elbow pain is again divided into the shoulder-blade pain, shoulder-arm pain, shoulder-elbow pain. The related meridians on shoulder pain are the three yin meridians of hand, Kidney Meridian, Conception Meridian, three yang meridians of hand, Bladder Meridian, Governor Meridian Acupuncture points for shoulder pain are in the acupuncture points of the 10 meridians and a-shi points. Thre related meridian muscles on shoulder-pain are the three yin and yang meridians of hand, and their related muscles are the ones that are connected with the front, back, and chest side muscles of shoulder joints, and the ones that are connected with the front and back side muscles of arm.

• International Journal of Internet, Broadcasting and Communication
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• v.16 no.1
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• pp.92-98
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• 2024

This meta-analysis systematically reviewed studies on mirror therapy focused on arm and hand function in stroke patients, aiming to comprehensively assess the efficacy of mirror therapy interventions and furnish empirical support for its potential application and future development in the context of stroke rehabilitation. A rigorous search for articles published in international journals up to the year 2022 was conducted. Various assessment tools were employed to calculate effect sizes, evaluating the impact of mirror therapy on arm and hand function in stroke patients. Utilizing a random-effects model, mean effect sizes were determined, yielding a total effect size of 0.545. The effect sizes for the Brunnstrom Recovery Stage (BRS), Box and Block Test (BBT), Modified Barthel Index (MBI), Fugl-Meyer Assessment (FMA), and grip strength test were 0.957, 0.596, 0.490, 0.488, and 0.417, respectively. In summary, we suggest that mirror therapy engenders positive changes in functional recovery among stroke patients, establishing a foundation for its tailored clinical application based on individual subject characteristics.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.6
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• pp.183-189
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• 2019

Despite its low cost, ARM is widely used in smartphones, digital cameras, home network devices, and wireless technologies because of its low power consumption and reliable performance. The domestic memory semiconductor design technology is in the world's highest level, but that of the processor is far less than that, which results in the technology unbalance between the memory and the processor. When designing a processor, exception and interrupt capabilities are requisite, but this is often omitted in the research stage. However, exception processing and interrupts must be included in order for the processor to function fully. In this paper, we design a 32-bit ARMv4 family of processors with exception handling and interrupts using VHDL and verify with ModelSim. As a result, ARM's exception and interrupts are successfully performed.

• Journal of Korean Academy of Nursing
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• v.35 no.7
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• pp.1390-1400
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• 2005

Purpose: The purpose of this study was to determine the effect of EPMLM(educational program of manual lymph massage) on the arm functioning and QOL(quality of life) in breast cancer patients with lymphedema. Method: Subjects in the experimental group(n=20) participated in EPMLM for 6 weeks from June to July, 2005. The EPMLM consisted of training of lymph massage for 2 weeks and encourage and support of self-care using lymph massage for 4 weeks. The arm functioning assessed at pre-treatment, 2weeks, and 6weeks using Arm functioning questionnaire. The QOL assessed at pre-treatment and 6 weeks using SF-36. The outcome data of experimental group was compared with control group(n=20). The collected data was analyzed by using SPSS 10.0 statistical program. Result: The arm functioning of experimental group was increased from 2 weeks after(W=.224, p=.011) and statistically differenced with control group at 2 weeks(Z=-2.241, p=.024) and 6 weeks(Z=-2.453, p=.013). Physical function of QOL domain increased in experimental group(Z=-1.162, p=.050), also statistically differenced with control group(Z=-2.182, p= .030) at 6weeks. Conclusion: The results suggest that the educational program of manual lymph massage can improve arm functioning and physical function of QOL domain in breast cancer patients with lymphedema.