• Physical Therapy Rehabilitation Science
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• v.8 no.2
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• pp.93-98
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• 2019

Objective: The purpose of this study was to investigate the effect of robot arm reach training on upper extremity functional movement in chronic stroke survivors. Design: One group pretest-posttest design. Methods: Thirteen chronic stroke survivors participated in this study. Robot arm reach training was performed with a Whole Arm Manipulator (WAM) and a 120-inch projective display to provide visual and auditory feedback. During the robotic arm reach training, WAM provided gravity compensation and assist-as-needed (AAN) force according to the robot control mode. When a participant could not move the arm toward the target for more than 2 seconds, WAM provided AAN force to reach the desired targets. All patients participated in the training for 40 minutes per day, 3 times a week, for 4 weeks. Main outcome measures were the Fugl-Meyer Assessment (FMA), Action Research Arm Test (ARAT) and Box and Block Test (BBT) to assess upper extremity functional movement. Results: After 4 weeks, significant improvement was observed in upper extremity functional movement (FMA: 42.15 to 46.23, BBT: 12.23 to 14.00, p<0.05). In the subscore analysis of the FMA upper extremity motor function domains, significant improvement was observed in upper extremity and coordination/speed units (p<0.05). However, there were no significant differences in the ARAT. Conclusions: This study showed the positive effects of robot arm reach training on upper extremity functional movement in chronic stroke survivors. In particular, we confirmed that robot arm reach training could have a positive influence by leading to improvement of motor recovery of the proximal upper extremity.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.397-406
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• 2011

Purpose : Recently ultrasound images has been used to measure the subacromial space with a linear measurement of the acromiohumeral distance. The purpose of this study was to comparison of distance of subacromial space using ultrasonographic measurement on arm positions of shoulder injured patients. Methods : The subjects were 30 shoulder injured patients (19 males and 11 females). Ultrasonography was performed to measure subacromial space during each shoulder resting position, $45^{\circ}$ abduction, internal rotation with $45^{\circ}$ abduction and external rotation with $45^{\circ}$ abduction. Results : Subacromial space was a significantly difference between injured arm and normal arm at shoulder resting position. At $45^{\circ}$ abduction, subacromial space was narrowing significantly between injured arm and normal arm. At external rotation with $45^{\circ}$ abduction, subacromial space were wider in normal arm than in injured arm but it was not significantly. Intra-observer reliability for ultrasonography measurement of subacromial distance was excellent (.96~.99). Conclusion : These results identified that positions of injured shoulder was related to subacromion space.

• Journal of the Korean Society of Food Culture
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• v.18 no.1
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• pp.9-16
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• 2003

The purpose of this study was to develop the standardized recipe and to analyze the nutrients of stir-fried whip-arm octopus as one of the kind of traditional local foods in Busan. The standardized recipe was developed by using cookbooks, home recipes, and the recipes by commercial food restaurants. The nutrient was analyzed by using an AOAC method. Sensory evaluations were made on nine sensory attributes by a 12-member panel. As the results, the whip-arm octopus was recorded as a food source for health, rejuvenation in Jasanobo. Since early 1900, the stir-fried method has been used for cooking with the ship-arm octopus. The main ingredients were whip-arm octopus, onion, large green onion as the local stir-fried whip-arm octopus in Busan. The ingredients of soup were shrimp, little neck clam, and water. Seasoning sauce was mixed with red pepper powder, soy sauce, sesame oil, chopped garlic, chopped onion, and sugar. The seasoning sauce was fermented for three days. The results of sensory scores were salty seasoning 3.66/5.00, taste 3.75/5.00, thickness 3.84/5.00, and smell 4.09. Nutrient retention per 100g of the stir-fried whip-arm octopus was 67.54kcal, protein 6.43g, fat 1.66g, Ca 28.06mg, Fe 2.56mg, cholesterol 68mg, and taurin 51mg. Fatty acid consists of various unsaturated fatty acids such as linoleic acid(46.24%) and oleic acid(33.67%).

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1947-1953
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• 2011

OSEK/VDX is a joint project aiming at an industry standard for ECUs in vehicles and OSEK OS is a real-time operating system that meets OSEK/VDX specifications. In this paper, we suggest an implementation of task switching and interrupt handling mechanisms of OSEK operating system based on ARM processors. Considering the requirements of OSEK OS and characteristics of ARM processor, we have designed task switching and interrupt handling mechanisms. For evaluating the validation of the suggested mechanisms, we have checked the functional correctness on an experimental embedded board with ARM processor and calculated the time of task switching and interrupt handling.

• Proceedings of the Korean Information Science Society Conference
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• 2000.04a
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• pp.466-468
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• 2000

ARM 프로세서는 CISC 보다는 간단하게 디자인된 RISC로서 내장 응용프로그램에 적합하기 때문에 앞으로 모든 디지털 기기에 ARM 코어를 기반으로 한 핵심 칩들이 생산된다. 그러나 명령어가 CISC보다는 적기 때문에 주어진 작업에 대해 완전한 처리를 위해서는 보다 많은 명령어들을 필요로 한다. 이러한 ARM 프로세서에서 데이터를 전송할 때 사용하는 메모리 영역과 레지스터들을 프로그램과 함께 분석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.230-233
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• 1993

This paper described a relationship between motion speed and working accuracy of industrial articulated robot arms. Working accuracy of the robot arm deteriorates at high speed operation caused by a nonlinear transformation of the kinematics and the time delay of the robot arm dynamic. The deterioration of the following trajectory was expressed as a linear function of the squares of the robot arm motion speed, depending upon a posture of the robot arm and division interval of the objective trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.400-403
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• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.533-539
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• 2012

The purpose of this study is to estimate a validity of control signal through a design of Exoskeleton Robot Arm's capable of intelligent recognition as a human arm's motion by using realtime processed data of generated EMG signals. By an intelligent algorithm, the EMG output value of human biceps and triceps muscles contraction can be recognized and used for the control over exoskeleton arm corresponding to human's recognition and judgement. The EMG sensing data of muscles contraction and relaxation are used as the input signal from human's body to operate the Exoskeleton Robot Arm thus copying human arm motion. An intelligent control of Exoskeleton Robot Arm is to design the analog control circuit which processes the input data, and then to manufacture an integrated control board. And then abstracted signal is passed by DSP signal processing, Fuzzy logic algorithm is designed for a accurate prediction of weight or load through the intelligent algorithm, and design an Exoskeleton Robot Arm to express a human's intention.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.161-164
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• 2008

A realization for EMG signal sensing and vertical control system of robotizing arm is presented in this paper. The system is realized that a fine EMG bio-signals of humans' arm muscle are detected by surface electrode sensor, making a high performance amplifier and filtering, converting analog into digital signal and driving a servomotor for robotizing arm. The system is experimented by monitoring multiple step vertical control angles of robotizing arm corresponding to EMG signals in moving arm muscles. The experimental result are that the vertical control level is measured to around 2 degrees and mean error is 5% approximately.

• Journal of Drive and Control
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• v.17 no.4
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• pp.31-37
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• 2020

We are concerned with the dual-arm manipulation for disaster-responding special-purpose machinery. This paper presents a control strategy for performing complex work in an irregular environment, the control algorithm, the hydraulic circuit, and the master devices. The occurrence of collapse accidents at disaster sites such as natural disasters and building collapses is increasing, which is emerging as a social problem. In particular, for the initial response, various tasks must be performed in an irregular environment. The Marionette algorithm for intuitive control of 'as if the operator's arm is moving' was presented as a control strategy for dual-arm manipulators with attachments and the prototype. Next, the hydraulic circuit, control system, and wearable-type master device presented to implement the Marionette algorithm were explained and verified through an experiment in which rebar-cutting, drum-lifting, and lifting a bottle with one arm and pouring the water into the bucket with the other arm were tested.