• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.296-301
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• 2005

This paper describes the kinematics, dynamics and control of a 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. In this shaking table, the bell crank mechanism is used to reduce the amount of space needed to install the shaking table and create horizontal displacement of the platform. In kinematics, joint design is performed using $Gr{\ddot{u}}bler's$ formula. The inverse kinematics of the shaking table is discussed. The derivation of the Jacobian matrix is presented to evaluate singularity conditions. Considering the maximum stroke of the hydraulic actuator, collision between links and singularity, workspace is computed. In dynamics, computations are based on the Newton-Euler formulation. To derive parallel algorithms, each of the contact forces is decomposed into one acting in the direction of the leg and the other acting in the plane orthogonal to the direction of the leg. Applying the Newton-Euler approach, the solution of inverse dynamics is almost completely parallel. Only one of the steps-the application of the Newton-Euler equations to the platform-must be performed on one single processor. Finally, the efficient control scheme is proposed for the tracking control of the motion platform.

• Journal of Oral Medicine and Pain
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• v.22 no.2
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• pp.207-217
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• 1997

This study was performed for Investigation of the magnitude of mandibular positional change in maximum mouth opening. protrusion, lateral excursion, gum and peanut chewing with BioPAK system(Bioresearch Inc. USA) which can analyze mandibular rotational torque movements. For this study 17 female patients with Temporomandibular joint(TMJ) closed lock and 18 female control without any Temporomandibular disorders(TMDs) signs and premature occlusal contact were included. The obtained results were as follows : 1. In maximum mouth opening, the mandibular rotational angle and distance of patients were significantly greater than those of control group in horizontal plane(P<0.05). 2. In protrusion, the mandibular rotational angle and distance of patients were significantly greater than those of control group in frontal and horizontal plane(P<0.01, P<0.05). 3. The mandibular rotational angle and 야stance in lateral excursion to affected side of patients were significantly greater than those in lateral excursion to non-affected side in frontal plane(P<0.05). 4. The mandibular rotational angle in gum chewing to affected side of patients was significantly greater than that in gum chewing to non-affected side in frontal plane. 5. The mandibular rotational angle and distance in peanut chewing to affected side of patients were significantly greater than those in peanut chewing to non-affected side in frontal and horizontal plane. 6. The mandibular rotational angle and distance in peanut chewing to affected side of patients were greater than those in gum chewing, and was the same result in control group in frontal and horizontal plane.

• Imaging Science in Dentistry
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• v.45 no.1
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• pp.1-5
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• 2015

Purpose: Lateral pterygoid muscle (LPM) plays an important role in jaw movement and has been implicated in Temporomandibular disorders (TMDs). Migraine has been described as a common symptom in patients with TMDs and may be related to muscle hyperactivity. This study aimed to compare LPM volume in individuals with and without migraine, using segmentation of the LPM in magnetic resonance (MR) imaging of the TMJ. Materials and Methods: Twenty patients with migraine and 20 volunteers without migraine underwent a clinical examination of the TMJ, according to the Research Diagnostic Criteria for TMDs. MR imaging was performed and the LPM was segmented using the ITK-SNAP 1.4.1 software, which calculates the volume of each segmented structure in voxels per cubic millimeter. The chi-squared test and the Fisher's exact test were used to relate the TMD variables obtained from the MR images and clinical examinations to the presence of migraine. Logistic binary regression was used to determine the importance of each factor for predicting the presence of a migraine headache. Results: Patients with TMDs and migraine tended to have hypertrophy of the LPM (58.7%). In addition, abnormal mandibular movements (61.2%) and disc displacement (70.0%) were found to be the most common signs in patients with TMDs and migraine. Conclusion: In patients with TMDs and simultaneous migraine, the LPM tends to be hypertrophic. LPM segmentation on MR imaging may be an alternative method to study this muscle in such patients because the hypertrophic LPM is not always palpable.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Physical Therapy Rehabilitation Science
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• v.5 no.3
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• pp.113-119
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• 2016

Objective: The effect of abdominal expansion maneuver (AEM) and abdominal draw-in maneuver (ADIM) on postural control in an unsupported position in stroke patients. Design: Randomized controlled trial. Methods: A total of 36 persons with hemiplegic stroke participated in this study. The subjects were randomly divided into an AEM experimental group (n=12), an experimental ADIM group (n=12), and a control group (n=12). We collected the general characteristics of all subjects and the pre-test results before the intervention and after 4 weeks of the intervention. The trunk stabilization training of the ADIM and AEM group were performed 15 minutes a day, 3 times a week for 4 weeks, and general physical therapy was performed 2 times a day, 30 minutes per session, 5 times a week for all three groups. The control group received joint mobilizations, muscle strengthening, endurance strengthening, and gait exercises along with treatment of the central nervous system, such as neuro-developmental treatment, mat, and gait training. The AEM is an inspiratory phase of tidal breathing expanding the lateral lower ribcage in a lateral direction with minimal superior movements of the chest. Then the lower abdomen expands and the navel moves in an anterior-caudal direction. The ADIM is a repeated contraction and relaxation of the anal sphincter during inspiration. The navel pulls the lower abdomen to the direction of the spine without the movement of the trunk and pelvis. Results: Before and after the interventions, medial-lateral axis movement distance, anterior-posterior axis movement distance, sway mean velocity, and sway area 95% was a statistically significant change in all three groups (p<0.05). The post-hoc test showed a significant improvement in medial-lateral axis movement distance, anterior-posterior axis movement distance, sway mean velocity, and sway area in the AEM group compared with the control group, and in the ADIM group compared with the control group (p<0.05). Conclusions: In conclusion, both AEM training and ADIM training are necessary interventions to maintain the independent sitting position according to the characteristics of the patient.

• Fashion & Textile Research Journal
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• v.16 no.3
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• pp.421-433
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• 2014

The aim of this study was to provide compression wear manufacture brands with information needed for product development. 8 tops and 7 bottoms from widely recognized compression wear manufacture brands were selected, and their product structural elements were analyzed, too. The results showed that most compression wear designs were applications of cutting lines designed considering muscle movements of the human body. The average number of cutting lines for patterns and designs were 14 for tops and 15 for bottoms. Different colored material was mainly used on the top for areas that require ventilation or high movement during sports for tops, and for areas that require muscle and joint support during sports for bottoms. The functionality of top materials were found to be stretch, muscle support, moisture absorption and high speed drying, warmth and ventilation for tops, in order of frequency, and stretch, muscle support, moisture absorption and high speed drying, and pressure for bottoms, in order of frequency. Tops were cut in the direction of the lengthwise grain, and bottoms were not only cut in the direction of the lengthwise grain, but also in the direction of the crosswise grain and bias for many products. Tops consisted of an average of 13 organically connected panels, and bottoms consisted of an average of 18 organically connected panels, which was analyzed to improve functionality. The average clothing surface area stretch rate was 85.7% for tops and 70.0% for bottoms, indicating that bottoms were designed to have higher strain rates compared to tops.

• Journal of Music and Human Behavior
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• v.7 no.2
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• pp.65-81
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• 2010

This single case study is to examine the gait parameter changes of a 12-year old patient with Cerebellar Astrocytomas using RAS in gait training program. Kinematic and temporospatial changes were analyzed using VICON 370 Motion Analysis System. A total of nine RAS gait training sessions was provided and each training program took 30 minutes. Gait analysis revealed that the patient showed improvement in cadence, velocity, stride length, and step length and improved the range of joint movements by showing gait patterns similar to normal distribution from a pathological pattern. This study showed possibilities to apply the RAS technique to the various population including clients with cerebellum damaged; however more further research should be done in this area.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.37
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• pp.23.1-23.8
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• 2015

Background: The purpose of this study was to investigate the functional effects of temporalis myofascial flap after condylectomy, with or without disc removal, in elderly patients with anterior disc displacement (ADD) without reduction and an erosive condylar surface of the temporomandibular joint (TMJ). Methods: A total of 15 joints from 11 elderly patients (71-78 years old) were included. The patients had pain, mandibular dysfunction symptoms, and unilateral or bilateral ADD as well as an erosive condylar surface of the TMJ. All patients underwent temporalis myofascial flap reconstruction after condylectomy, with or without disc removal. If the maximal mouth opening (MMO) remained <35 mm after condylectomy, coronoidotomy was also performed. Self-assessed pain and mandibular function, including MMO and protrusive and lateral movements, were evaluated. Results: No patient experienced serious complications. Most measurements improved significantly after surgery compared to preoperatively. Most patients achieved nearly-normal mouth opening at 4 weeks after surgery. Although most patients felt discomfort during active postoperative physiotherapy, no patient reported serious pain during the follow-up period. Conclusion: Although nonsurgical therapy is often the first treatment choice for ADD without reduction of the TMJ, surgical intervention involving condylectomy and temporalis myofascial flap reconstruction may be a reasonable first option for elderly patients with an erosive condylar surface of the TMJ.

• Journal of the Korean Society of Clothing and Textiles
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• v.33 no.2
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• pp.308-318
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• 2009

The purpose of this study was to develop the functionally improved winter work clothing for the Korean railroad workers. Based on the questionnaires, the sample clothing for the Korean railroad workers was produced. The design, materials, and patterns were modified to increase mobility and comfort of workers. Water-repellent treatment was added to the material in order to decrease the dirt and stains while working. Also the reflective strips were added to chest and back of the upper garment in order to increase visibility and safety of the workers. In terms of the design and pattern underarm of the sleeve and side panel of the bodice were put in together and action pleats at the back were inserted in order to decrease the pullback of the armpit and scapular area and increase mobility of the arm movement. Also the patterns of the elbows areas were modified to increase mobility of joint. The prototype was evaluated an objective assessment and subjective assessment to compare to the existing working uniform. Assessment group was consisted of 5 subject groups and 11 expert groups and evaluated external appearance and adaptability to the movements. According to the results, the prototype was evaluated better than the existing working uniform in appearance and adaptability except height of collar. A field test was conducted to compare the prototype and the existing working uniform. The field tests were performed by 6 workers in the Korean railroad. According to the results, the prototype was improved in terms of adaptability and comfort.

• Journal of the Korean Society of Physical Medicine
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• v.15 no.3
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• pp.69-77
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• 2020

PURPOSE: The aim of this study was to measure changes in spine inclination and thoracolumbar structure and morphology according to upper-extremity movements with and without resistance in order to evaluate the spine stability in workers. METHODS: Forty-eight middle-aged male workers (mean age, 40.48 ± 6.27 years) participated in this study. Using the spine analysis system, changes in the inclination of the spine and structure as well as shape of the thoracolumbar spine were measured. For posture measurement, the postures of standing, lifting the right and left arms (shoulder joint 90° flexion), and lifting with both arms were measured in random order. In addition, variables were measured using a resistance of 3 kg for each posture. The statistical significance level was set at α = .05 for all variables. RESULTS: There were statistically significant differences between the front and back inclinations of the spine, kyphotic curve of the thoracic spine, lordotic curve of the lumbar spine, rotation changes in the thoracolumbar spine, and rotation changes in the T4 vertebra (p < .05). However, there was no significant difference in the left and right tilts of the spine. In the post-hoc analysis, rotation changes in the T4 vertebra showed a significant difference in posture when resistance was applied to the left and right sides CONCLUSION: Causes of musculoskeletal diseases include excessive thoracic spine rotation, torsion, and hyperlordosis of the lumbar spine. Therefore, it is necessary to improve the working environment in order to ensure a healthy posture and prevent musculoskeletal diseases that can reduce the ability to carry various and/or excessive loads.