• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.10
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• pp.913-922
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• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.

• Physical Therapy Korea
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• v.20 no.1
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• pp.64-73
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• 2013

The purposes of this study were to develop a new orthosis controlling ankle and knee joint motion during the gait cycle and to identify the effects of the newly designed orthosis on gait kinematics and tempospatial parameters, including coordination of the extremities in stroke patients. Fifteen individuals who had sustained a stroke, onset was 16 months, participated in this study. Before application of the measurement equipment the subjects were accustomed to walking on the ankle-foot orthosis (AFO) or stance control knee with knee flexion assisted-oil damper ankle-foot orthosis (SCKAFO) for 5 minutes. Fifteen patients were investigated for 45 days with a 3-day interval between sessions. Measurements were walking in fifteen stroke with hemiparesis on the 3D motion analysis system. Comparison of AFO and SCKAFO are gait pattern. The difference between the AFO and SCKAFO conditions was significant in the gait velocity, step length of the right affected side, stance time of both legs, step-length asymmetry ratio, single-support-time asymmetry ratio, ${\phi}$-thigh angle and ${\phi}$-shank angle in the mid swing (p<.001). Using a SCKAFO in stroke patients has shown similar to normal walking speeds can be attained for walking efficiency and is therefore desirable. In this study, the support time of the affected leg with the SCKAFO was longer than with the AFO and the asymmetry ratio of single support time decreased by more than with the AFO. This indicates that the SCKAFO was effective for improving gait symmetry, single-support-time symmetry. This may be due to the decrease of gait asymmetry. Thus, the newly designed SCKAFO may be useful for promoting gait performance by improving the coordination of the extremity and decreasing gait asymmetry in chronic stroke patients.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.7 no.3
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• pp.391-400
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• 2000

A long-term bed rest results in an inevitable foot drop. Yet preventive device such as a foot board and high-neck tennis shoes, are not widely used. This study was conducted to compare the effects of a pillow-type foot board with that of the band-type device. The band-type device of a resonable price is designed for an effective prevention of foot drop, and the convenience for it use. Among the non-equivalent control group design, foot drop preventive effects, usefulness of the device, as well as its cost effectiveness were examined. The study was carried out for four months from December 1999, and its subject had been patients and nurses of two intensive care units at K medical center in Seoul. According to the study purpose, the data collected were analyzed by $x^2-test$ and t-test. The results are as follow : 1. The ROM of ankle joint is promoted in the experimental group with a band-type device comparing the control group with a pillow type one. Dorsiflexion is particularly increased in the experimental group as compared with the control group, while planterflexion hardly shows any change. 2. The usefulness score of the experimental group nurses using the band-type device (23.97) is higher than that of the control group nurses (18.88). 3. In an aspect of the unit production cost, band-type devices are low-priced compare with pillow-type or other foot board (wooden) or high-neck tennis shoes. In summary, the newly developed band-type device is both useful and preventive for a foot drop. It is also desirable regarding to the production cost and the cost effectiveness. This fact proves that the new anti-foot drop device could be practical both for clinical care and home care. Yet the results were obtained by some subjects, it should be used after a further examination. More effective nursing intervention could be observed throughout general studies, including proper positioning and foot and ankle exercises which are the important variables of the foot drop prevention.

• Korean Journal of Applied Biomechanics
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• v.19 no.1
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• pp.27-36
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• 2009

The purpose of this study was to identify effects of restricted trunk motion on the performances of the maximum vertical jump. Ten healthy males performed normal countermovement jump(NJ) and control type of countermovement jump(CJ), in which subjects were required to restrict trunk motion as much as possible. The results showed 10% decreases of jumping height in CJ compared with NJ, which is primarily due to vertical velocity at take off. NJ with trunk motion produced significantly higher GRF than RJ, especially at the early part of propulsive phase, which resulted from increased moments on hip joint. And these were considered the main factors of performance enhancement in NJ. There were no significant differences in the mechanical outputs on knee and ankle joint between NJ and RJ. With trunk motion restricted, knee joint alternatively played a main role for propulsion, which is contrary on the normal jump that hip joint was highest contributor. And restricted trunk motion resulted in the changes of coordination pattern, knee-hip extension timing compared with normal proximal-distal sequence. In conclusion these results suggest that trunk motion is effective strategy for increasing performance of vertical jumping.

• Korean Journal of Applied Biomechanics
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• v.24 no.4
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• pp.399-415
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• 2014

The aim of this study was to investigate the effect of resistance training with and without whole-body vibration(WBV) on the biomechanical properties of the plantarflexor in the elderly women (>60 yrs., n=35). Thirty-five volunteers were randomly assigned to a resistance training with WBV group (RVT, n=14), a resistance training without WBV (RT, n=11), and a non-training control group (CON, n=10). The RVT and the RT groups participated in the training sessions three times a week for 8 weeks, followed by a 4-week detraining period. The CON group was instructed to refrain from any type of resistance training. To assess strength and activation of the plantarflexor muscles, maximum isometric ankle plantarflexion torque and muscle activation of the triceps surae muscles were measured using dynamometry, twitch interpolation technique and electromyography at four different ankle joint angles. Also, the lower extremity function was assessed by vertical jumping. The measurements were performed prior to, 2 and 8 weeks after the training and after a 4-week detraining period. Following the 8-week training sessions, an increase in the isometric plantarflexion strength was found to be greater for the RVT compared with the RT group (p<.05). Muscle inhibition was significantly decreased after training than before training only for the RVT (p<.05). Following the detraining period, a decrease in isometric plantarflexors strength and a increases in muscle inhibition were significantly less in the RVT compared with the RT group. In conclusion, the exercise with WBV is a feasible training modality for the elderly and seems to have a boosting effect when used with conventional resistance training.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.135-142
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• 2008

The primary innovation in the new footwear is a heel lift of $20^{\circ}$ which is proposed to improve posture and balance as well as increase shock absorption. The purpose of this research was to compare the movement, forces and muscle activity between the new shoes and standard athletic footwear during standing and walking. Nine healthy subjects participated in this study. Data were collected at two times: 1) when the subjects first wore the new walking shoes and 2) after the subjects wore the shoes for 6 hours a day for two weeks. 1. During standing. the movement of the center of pressure is increased approximately 60% when wearing the new walking shoes compared to a control shoe. 2. During walking. the ankle is approximately $14^{\circ}$ more dorsiflexed during landing due to the 200heel lift in the new walking shoes. The knee compensates slightly by flexing approximately $2^{\circ}$ more. 3. As a result of the changes in the walking movement, the ground reaction forces are applied more quickly, although the peak magnitudes do rut change. 4. The resultant joint moments at the ankle and knee joints decrease from 21-60% with the largest reductions occurring during landing. In conclusion, the new footwear change the movement, showing a more upright stance. Also, the new footwear reduce joint loading at the joint during the landing and weight acceptance phase of walking. However, the influence of the new footwear is immediate and does rut change after wearing the shoes for two weeks.

• Journal of Korean Medicine Rehabilitation
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• v.27 no.4
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• pp.1-9
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• 2017

Objectives Oxidative stress, in which antioxidant proteins and scavenger protection are overwhelmed by reactive oxygen species (ROS) production, is recognized as one of central causes of disuse muscle atrophy. In this study, the hypothesis that oral treatment with Dangguibohyul-tang (Dangguibuxuetang) could attenuate immobilization-induced skeletal muscle atrophy was tested. Methods The hindlimb immobilization was performed with casting tape to keep the left ankle joint in a fully extended position. The Rats in Dangguibohyul-tang treated group (DGBHT) (n=10) were orally administrated Dangguibohyul-tang water extract, and rats of Control group (n=10) were given with saline only. After 2 weeks of immobilization, the morphology of right and left gastrocnemius muscles in both DGBHT and Control groups were assessed by hematoxylin and eosin staining. Results Dangguibohyul-tang water extract represented the significant protective effects against the reductions of the left gastrocnemius muscles weight and average cross section area to compared with Control group. Moreover, the treatment with Dangguibohyul-tang extract significantly enhanced the Cu/Zn-SOD activities in gastrocnemius muscle compared with Control group. Conclusions Thses results suggest that Dangguibohyul-tang has protective effects against immobilization-induced muscle atrophy by increasing the Cu/Zn-SOD activities in gastrocnemius muscle.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• Korean Journal of Applied Biomechanics
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• v.26 no.4
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• pp.369-375
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• 2016

Objective: The purpose of this study was to investigate the possibility of injuries and the types of movement related to damage by body parts, and to prepare for prevention of injuries and development of a training program. Method: For this study, the experiment was conducted according to levels of 60 percentages (ST) and 85 percentages (MA) and 10 subjects from the Korean elite national weightlifting team were included. Furthermore, we analyzed joint moment and muscle activation pattern with three-dimensional video analysis. Ground reaction force and EMG analyses were performed to measure the factors related to injuries and motion. Results: Knee reinjuries such as anterior cruciate ligament damage caused by deterioration of the control ability for the forward movement function of the tibia based on the movement of the biceps femoris when the rectus femoris is activated with the powerful last-pull movement. In particular, athletes with previous or current injuries should perceive a careful contiguity of the ratio of the biceps femoris to the rectus femoris. This shows that athletes can exert five times greater force than the injury threshold in contrast to the inversion moment of the ankle, which is actively performed for a powerful last pull motion and is positively considered in terms of intentional motion. It is activated by excessive adduction and internal rotation moment to avoid excessive abduction and external rotation of the knee at lockout motion. It is an injury risk to muscles and ligaments, causing large adduction moment and internal rotation moment at the knee. Adduction moment in the elbow joint increased to higher than the injury threshold at ST (60% level) in the lockout phase. Hence, all athletes are indicated to be at a high risk of injury of the elbow adductor muscle. Lockout motion is similar to the "high five" posture, and repetitive training in this motion increases the likelihood of injuries because of occurrence of strong internal rotation and adduction of the shoulder. Training volume of lockout motion has to be considered when developing a training program. Conclusion: The important factors related to injury at snatch include B/R rate, muscles to activate the adduction moment and internal rotation moment at the elbow joint in the lockout phase, and muscles to activate the internal rotation moment at the shoulder joint in the lockout phase.