• Journal of Biosystems Engineering
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• 제25권5호
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• pp.399-408
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• 2000

This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

• 대한물리의학회지
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• 제11권1호
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• pp.93-105
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• 2016

PURPOSE: The purpose of this study was to determine the effect of corrective exercise on hip joint range of motion, lower limb alignment, radiographs of hip and knee joints, and quadriceps muscle activity in a patient with knee joint valgus deformity. METHODS: A single-subject A-B-A experimental design was used to determine the effects of therapeutic exercise. The single-subject was a 27-year-old male, who presented with knee joint valgus deformity. Corrective exercise program was performed for 40 min/day twice a week for 12-week. Range of motion (hip flexion, extension, abduction, adduction, internal rotation, and external rotation), lower limb alignment test (Q-angle, rear foot alignment, and leg length), standing anterior-posterior radiographs (neck shaft angle and knee joint space), and quadriceps muscle activity of both lower limbs were measured before (A 1), after 6 weeks (B 1) and after 12-weeks (B 2) of corrective exercise and after 6 weeks of exercise completion (A 2). RESULTS: Hip range of motion increased in all directions of both sides at B 2 and A 2 compared to at A 1. Q-angle of both side and leg length discrepancy decreased at B 2 and A 2 compared to at A 1. Neck shaft angle and knee joint space of both sides improve at B 2 and A 2 compared to at A 1. Quadriceps of both side muscle activities improved at B 2 and A 2 compared to at A 1. CONCLUSION: We demonstrated that corrective exercise increases range of motion, and improves lower limb alignment and muscle activity in a patient with knee joint valgus deformity.

• 대한족부족관절학회지
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• 제21권2호
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• pp.55-60
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• 2017

Purpose: Stiffness in the first metatarsophalangeal joint after surgery for hallux valgus has been reported. The goal of this study was to test the efficacy of releasing plantar aponeurosis for improving the range of extension in the first metatarsophalangeal joint that was limited after hallux valgus surgery. Materials and Methods: Thirteen patients (1 man, 12 women [17 feet]; median age, 54.4 years; range, 44~69 years) with limited first metatarsophalangeal joint extension after hallux valgus surgery, who underwent an additional procedure of plantar aponeurosis release between March 2015 and August 2015, were included. Subsequently, the passive range of extension in the first metatarsophalangeal joint was evaluated via knee extension and flexion positions. Hallux valgus angle, inter-metatarsal angle, distal metatarsal articular angle, and talo-first metatarsal angle were measured on weightbearing dorsoplantar and lateral radiographs of the foot preoperatively. Results: The mean range of extension for the first metatarsophalangeal joint improved significantly, from $2.5^{\circ}$ to $40.9^{\circ}$ in the knee extension position (p<0.00). The mean extension range for the first metatarsophalangeal joint also improved, from $18.2^{\circ}$ to $43.2^{\circ}$ in the knee flexion position (p<0.00). In all patients, congruence of the first metatarsophalangeal joint was recovered. Conclusion: Plantar aponeurosis release is an effective additional procedure for improving the extension range of the first metatarsophalangeal joint after hallux valgus surgery.

• 대한정형도수물리치료학회지
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• 제30권2호
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• pp.85-94
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• 2024

Background: This study aimed to investigate the effects of joint mobilization with movement (MWM) on pain, ankle joint range of motion, balance, and gait in patients who underwent total knee arthroplasty (TKA) and exhibited ankle joint inversion. Methods: We divided 35 patients who had undergone TKA into experimental and control groups. The intervention involved a 40-min session three times a week over 4 weeks. The control group received general physical therapy, ankle pumping exercises, Q-setting exercises, knee joint range of motion exercises, and gravity-controlled gait training. In addition to these treatments, the experimental group received MWM to evaluate knee pain, ankle joint angle, balance, and gait pre- and post-intervention. Results: Both groups experienced a decrease in pain levels, with no significant difference between the groups. Both groups also showed a significant decrease in ankle joint inversion angle, with notable differences between them. Additionally, both groups significantly increased their mean dorsiflexion angles and balance, with a significant difference observed between the groups. Although walking decreased in both groups, there was no significant difference observed between them. Conclusion: The group that received MWM treatment showed significant effects on inversion angle, dorsiflexion angle, balance, and gait. These results provide valuable insights into the potential benefits of MWM as a post-TKA intervention, while highlighting the importance of long-term follow-up studies on post-TKA lower limb alignment interventions.

• 대한물리치료과학회지
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• 제25권2호
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• pp.7-14
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• 2018

Purpose: This study was conducted to analyze the effect of bag type on gait kinematic factors. The purpose of this study was to compare the Cobb's angle, leg angle and foot pressure difference according to bag type among 20 university students. Methods: The bag type was applied with two kinds of bags: not wearing a bag, backpack, and an eco bag. The bag weight was 10% of subjects weight in during experiment and only bag weight was 0.5kg. Results: Knee joint angle is increased when wearing backpack or an eco bag than not wearing bag. Cobb's angle increased when wearing backpack and wearing eco back. The difference in right and left foot pressure increased when wearing eco bag than not wearing bag and wearing backpack. Conclusion: Therefore, wearing a heavy backpack or an eco bag when walking for a long time may cause scoliosis and change the walking form.

• 한국운동역학회지
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• 제25권1호
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• pp.131-140
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• 2015

Purpose : The purpose of this study was to analyze the coordination of the trunk tilting angle and bilateral lower limbs according to the stirrups length during trot in equestrian. Methods : Participants selected as subject were consisted of adult male(n=7, mean age: $45.00{\pm}3.78yrs$, mean height: $172.50{\pm}2.44cm$, mean body mass: $76.95{\pm}4.40kg$, mean, mean leg length: $97.30{\pm}2.60cm$). They were divided into 3-types of stirrups lengths(67 cm, 72 cm, 77 cm) during trot. The variables analyzed were consisted of the trunk front-rear angle, lower limb joint(Right Left hip, knee, ankle), overall movement index(OMI) of the lower limbs(thigh, shank, foot) and asymmetry index(AI%) during trot. Results : The average angle in hip and knee joint showed more extended posture according to the increase of stirrups lengths and ankle angle showed more plantarflexion posture according to increase of stirrups length during 1 stride in trot. Also, average angle showed more extended posture in right hip and ankle joint than that of left. The angle of knee joint didn't show significant difference statistically between right and left. Also asymmetric index in average angle of hip, knee and ankle joint didn't show significant difference statistically in between lower limbs, but hip joint showed higher asymmetric index in stirrup length of 77 cm and ankle joint showed higher asymmetric index in stirrup length of 67 cm than that of the others respectively. The FR angle in trunk of horse-rider showed relative backward leaning motions at stirrup length of 67 cm and 77 cm than that of stirrup length of 72 cm during stance and swing phase. OMI in thigh, shank, and foot limbs didn't show significant difference statistically according to the stirrups length of right and left lower limbs, but left lower limbs showed higher index than that of right lower limb. Stirrup length of 72 cm in shank and foot limbs showed higher index than that of stirrup length of 67 cm and 77 cm. But stirrup length of 72 cm showed higher asymmetric index than that of stirrups length of 67 cm and 77 cm. Conclusions : When considering the above, 72 cm(ratio of lower limb 74.04%) stirrup lengths could be useful in posture correction and stabilization than 67cm(ratio of lower limb 68.69%) and 77 cm(ratio of lower limb 79.18%) stirrup lengths during trot in horse back riding.

• 한국환경복원기술학회지
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• 제5권4호
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• pp.19-30
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• 2002

The stability of slope using root-pile like to the reinforcements is affected by the interaction behavior mechanism of soil-reinforcements. Through the studying on the interaction in joint of its, therefore, the control roles can be find out in installed slope. In study, the stress level ratio based on the insert angle of installed reinforcements in soil used to numerical analysis, which was results from the duty direct shear test in Lab. The maximum shear strain variation on the reinforcements was observed at insert angle, which was approximately similar to the calculated angle based on the equation proposed by the Jewell. The elasto-plastic joint model on the contact area of soil-reinforcements was presumed, the reinforced soil assumed non-linear elastic model and the reinforcements supposed elastic model, respectively. The finite element analysis of assumed models was performed. The shear strain variation of non-reinforced state obtained by the FEM analysis including elasto-plastic joint elements were shown the rationality of general limit equilibrium analysis for the slope failure mode on driving zone and resistance zone, which based on the stress level step according to failure ratio. Through the variation of shear strain for the variation of inserting angle of reinforcements, the different mechanism on the bending and the shear resistance of reinforcements was shown fair possibility.

• 대한임베디드공학회논문지
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• 제11권3호
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• pp.183-191
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• 2016

Recently, in rehabilitation treatment, the situation that requires a measure of the accuracy of the pose and movement of joints is being increased due to the habits and lifestyle of modern people and the environment. In particular, there is a need for active automated system that can determine itself for the matching rate of pose Basically, a method for measuring the matching rate of pose is used by extracting an image using the Kinect or extracting a silhouette using the imaging device. However, in the case of extracting a silhouette, it is difficult to set the comparison, and in the case of using the Kinect sensor, there is a disadvantages that high accumulated error rate according to movement. Therefore, In this paper, we propose a method to reduce the accumulated error of matching rate of pose getting the rotation angle of joint by measuring the real-time amount of change of 9-axis sensor. In particular, it can be measured same conditions that unrelated of the physical condition and unaffected by the data for the back and forth movement, because of it compares the current rotation angle of the joint. Finally, we show a comparative advantage results by compared with traditional method of extracting a silhouette and a method using a Kinect sensor.

• 한국터널지하공간학회 논문집
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• 제6권4호
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• pp.303-314
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• 2004

본 연구에서는 터널을 굴착할 때 절리가 있는 암반의 역학적 거동특성을 실험적으로 규명하고자 하였다. 절리와 터널의 이격거리, 측압계수를 변화시키며 실험을 수행하였다. 터널주변에 수직절리가 있는 경우 천단부와 수직절리 반대편의 어깨부에서 가장 큰 영향이 발생되며 측압이 작을 경우에는 천단부 보다 절리 반대편 측벽부에서 접선 방향의 응력이 크게 증가된다. 반면 $45^{\circ}$의 경사절리가 있는 경우 발생하는 압축응력은 절리면 방향의 터널 좌측부가 무절리 상태의 3배정도로 터널의 안정성에 큰 영향을 미치는 것으로 나타났다.

• Industrial Engineering and Management Systems
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• 제3권1호
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• pp.78-84
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• 2004

To optimize movement of a multi-joint robot arm is known to be a difficult problem, because it is a kind of redundant system. Although the end-effector is set its position by each angle of the joints, the angle of each joint cannot be uniquely determined by the position of the end-effector. There exist the infinite number of different sets of joint angles which represent the same position of the end-effector. This paper describes how to manage the angle of each joint to move its end-effector preferably on an X-Y plane with obstacles in the end-effector’s reachable area, and how to optimize the movement of a multi-joint robot arm, evading obstacles. The definition of “preferable” movement depends upon a purpose of robot operation. First, we divide viewpoints of preference into two, 1) the standpoint of the end-effector, and 2) the standpoint of joints. Then, we define multiple objective functions, and formulate it into a multi-objective programming problem. Finally, we solve it using multi-purpose genetic algorithm, and obtain reasonable results. The method described here is possible to add appropriate objective function if necessary for the purpose.