• 로봇학회논문지
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• 제6권4호
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• pp.301-307
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• 2011

Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.

• Steel and Composite Structures
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• 제28권4호
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• pp.427-438
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• 2018

Static stability is a decisive factor in the design of domes. Stability-related external factors, such as load and supports, are incorporated into structural vulnerability theory by the definition of a relative rate of joint well-formedness ($r_r$). Hence, the instability mechanism of domes can be revealed. To improve stability, an optimization model against instability, which takes the maximization of the lowest $r_r$ ($r_{r,min}$) as the objective and the discrete member sections as the variables, is established with constraints on the design requirements and steel consumption. Optimizations are performed on two real-life Kiewitt-6 model domes with a span of 23.4 m and rise of 11.7 m, which are initially constructed for shaking table collapse test. Well-formedness analyses and stability calculation (via arc-length method) of the models throughout the optimization history demonstrate that this proposed method can effectively enhance $r_{r,min}$ and optimize the static stability of shell-like structures. Additionally, seismic performance of the optimum models subjected to the same earthquake as in the shaking table test is checked. The supplemental simulations prove that the optimum models are superior to the original models under earthquake load as well.

• 한국운동역학회지
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• 제15권2호
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• pp.11-20
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• 2005

This study has a purpose on contributing to apprehend safe and right way to stop to the inline skate beginners and to the instructors who teaches line skating on the basis for the result of the kinematical analysis on Heel brake stop movement of the inline skate, focusing on the displacement on COG, angle displacement of ankle joint, angle displacement of knee joint, angle displacement of hip joint, using a 3D image method by DLT. To achieve this goal, we analysed the kinematical factor of the 3 well-trained inline skating instructors and obtained the following results. 1. During the movement of heel-brake stop, when strong power was given to a stable and balanced stop and the lower limbs, if the physical centroid is lowered the stability increases, and if it is placed high from the base surface, as the stability decreases compared to the case of low physical centroid, we should make a stop by placing a physical centroid in the base surface and lowering the hight of physical centroid. 2. To make a stable and balanced stop and to provide a strong power to the lower limbs, it is advisable to make a stop by decreasing an angle displacement of ankle joint during a "down" movement. In case of the left ankle joint, in all events and phases the dorsiflexion angle showed a decrease. Nevertheless, in the case of the right ankle joint, the dorsiflexion angle shows an increase after a slight decrease. The dorsiflexion angle displacement of ankle joint can be diminished because of the brake pad of the rear axis frame of the right side inline skate by raising a toe, but cannot be more decreased if certain degree of an angle is made by a brake pad touching a ground surface. To provide a power to a brake pad, it is recommended to place a power by lowering a posture making the dorsiflexion angle of the left ankle joint relatively smaller than that of the right ankle. 3. To make a stable and balanced stop and to add a power to a brake pad, the power must be given to the lower limbs in lowering the hight of physical centroid. For this, it is recommended to make a down movement by decreasing the flexion angle of a knee joint and it is necessary to make a down movement by a regular decrease of the angle displacement of knee joint rather than a swift down movement in every event and phase. 4. The right angle displacement of hip joint is made by lowering vertically the hight of physical centroid as leaning slightly forward. If too narrow angle displacement of hip joint is made by leaning forward too much, the balance is lost during the stop by placing the center in front. To make a stable and balance stop and to place a strong power to the lower limbs, it is recommendable to make a narrow angle by lower the hip joint angle. However, excessive leaning of the upper body to make the angle too narrow, can cause an instable stop and loss of physical centroid. After this study, it is considered to assist the kinematical understanding during the heel brake stop movement of the inline skate, and, to present basic data in learning a method of stable and balanced stop for the inline skating beginners or for the inline skate instructors in the present situation of the complete absence of the study in inline skating.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• Clinics in Shoulder and Elbow
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• 제3권2호
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• pp.79-86
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• 2000

Purpose: We analysed the clinical efficacy of inferior capsular shift operation in multidirectional instability of the shoulder joint in terms of functional aspects and patient's satisfaction Materials and Methods: From July, 1998 to March, 2000, we treated 23 cases of multidirectional instability of the shoulder joint with T-shaped inferior capsular shift and/or Bankart repair. All of them have complained of an experience about frank dislocations. Two of them has a voluntary component. We evaluated them according to complication, function, range of motion, stability and patient's satisfaction with an average follow-up of 15 months(the range of 9 to 27 months). Results: Eight cases were atraumatic multidirectional instability and coexisting Bankart lesion were present in 15. There was no redislocation, but one case of symptomatic subluxation, 3 cases of transient nerve palsy and 2 cases of feeling of laxity developed. Limitation of motion after surgery was an average of 3.4° in flexion, and 8.5° in external rotation. With Rowe scoring system, the clinical result was excellent or good in 22 cases and poor in one. According to American shoulder and elbow society, pain score improved to 1.4 from 6.1, and stability score also improved to 1.8 from 9.1. Conclusion: In multidirectional shoulder instability, one should pay attention to finding a coexisting Bankart lesion. In that case, adequate capsular volume reduction by using inferior capsular shift as well as repair of Bankart lesion is needed to get a good surgical outcome.

• 한국재료학회지
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• 제26권12호
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• pp.751-756
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• 2016

Graphite was diffusion-bonded by hot-pressing to W-25Re alloy using a Ti interlayer. For the joining, a uniaxial pressure of 25 MPa was applied at $1600^{\circ}C$ for 2 hrs in an argon atmosphere with a heating rate of $10^{\circ}C\;min^{-1}$. The interfacial microstructure and elemental distribution of the W-25Re/Ti/Graphite joints were analyzed by scanning electron microscopy (SEM). Hot-pressed joints appeared to form a stable interlayer without any micro-cracking, pores, or defects. To investigate the high-temperature stability of the W-25Re/Ti/Graphite joint, an oxy-acetylene torch test was conducted for 30 seconds with oxygen and acetylene at a 1.3:1 ratio. Cross-sectional analysis of the joint was performed to compare the thickness of the oxide layer and its chemical composition. The thickness of W-25Re changed from 250 to $20{\mu}m$. In the elemental analysis, a high fraction of rhenium was detected at the surface oxidation layer of W-25Re, while the W-25Re matrix was found to maintain the initial weight ratio. Tungsten was first reacted with oxygen at a torch temperature over $2500^{\circ}C$ to form a tungsten oxide layer on the surface of W-25Re. Then, the remaining rhenium was subsequently reacted with oxygen to form rhenium oxide. The interfacial microstructure of the Ti-containing interlayer was stable after the torch test at a temperature over $2500^{\circ}C$.

• 대한의용생체공학회:의공학회지
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• 제31권1호
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• pp.74-80
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• 2010

This paper presents the three dimensional gait analysis of the patients with osteoarticular knee allograft reconstruction. The gait analysis has been performed in some medical fields such as orthopedics and neurosurgery for the purpose of the rehabilitation of patients. However, to the author's knowledge, the analysis of gait for the patients with osteoarticular knee allograft reconstruction caused by tumor has not been reported. In this work, In this work, we confirmed the validity of this method by analyzing 50 samples per one gait cycle obtained from each of 3 patients and 3 normal persons. The motion capture was performed using six infrared cameras. The symmetry and stability of the gait patterns are investigated (patients' r=0.39, p<0.05, normal persons' r=0.65, p<0.05) respectively using the correlation coefficients and the standard deviations of the joint angles of the left and right legs. It also would be applied to the comparison analysis where artificial knee joint is transplanted.

• 터널과지하공간
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• 제22권1호
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• pp.43-53
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• 2012

개착면의 방향성과 규모가 점진적으로 변화되는 개착사면의 안정성을 지반의 암석학적, 구조적 및 역학적 특성을 종합적으로 고려한 횡단면 분석기법을 활용하여 분석하였다. 시추작업을 수행하여 획득한 코어시료를 관찰하여 사면지반의 암석학적 취약성을 조사하였으며, 시추공 내 BIPS 영상을 획득하여 사면 내부의 구조적 특성을 규명하였다. 시추코어 및 코어절리시료를 이용한 암석실험을 통해 사면 지반의 공학적 특성을 분석하였다. 평사투영해석을 수행하여 잠재적인 사면거동 양상과 거동유발 절리들을 분석하였으며, 거동유발 절리들의 트레이스 분포를 개착 형상이 고려된 횡단면상에 도시하였다. 횡단면에 분포된 평면파괴 절리들이 기저면을 형성하는 평면블록들을 절리 트레이스 분포를 고려하여 설정하였다. 횡단면 상에서 심도별 평면블록들의 안정성과 적정 안전율을 유지하기 위하여 요구되는 지보량을 산정하여 최적 사면 설계안 수립에 대한 횡단면 기법의 활용성을 고찰하였다.

• 한국운동역학회지
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• 제20권3호
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• pp.267-275
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• 2010

The purpose of this study was to investigate the effects of balance ability improvement exercise program which applied to the elderly people for increasing balance, stability and range of motion. Ten elderly people and ten university students were recruited as the subjects. Kinematic data were collected by seven real-time infrared cameras while subjects walk stair descent as a pre-test. Korean folk dance exercise program was applied to the elderly for 12 weeks. Same experiment on stair descent walk was performed as post-test. Results indicated that CM movement and selected joint angle patterns of elderly group after treatment changed to the similar patterns of young group. However, ankle joint angle and vertical GRF of elderly group after treatment also increased compared to those of the elderly group before treatment. This might be explained by the fact that elderly used a different walking strategy which maximize support base for increasing stability. Overall, these results indicated that the exercise treatment may affect to adapt and improve the gait pattern of stair descent of elderly people.

• 대한족부족관절학회지
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• 제1권2호
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• pp.95-101
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• 1997

Hallux valgus has been characterized by a valgus deformity of the great toe at the metatarsophalangeal joint, along with medial deviation of the first metatarsal, and by three components. First, there is a valgus angle more than $20^{\circ}$ at the first, metatarsophalangeal joint. Second, there is a greater angle than $9^{\circ}$ between the first. and second metatarsals. Third, there is bursal hypertrophy at the medial eminence of the first metatarsals head. The etiology is multifactorial and many procedures have been reported in the treatment of hallux valgus. Most of the procedures are directed towards pain relief, correction of deformity, and preservation of dorsiflexion in the first metatarsophalangeal joint. One such treatment is the Modified chevron osteotomy. It is technically simple, and provides greater stability than a standard osteotomy, and allows early ambulation after surgery. We a reviewed 19 cases with 13 patients of hallux valgus deformity. They were all treated with the Modified chevron osteotomy at the Department of Orthopedic Surgery, Choong ang Gil Hospital, between June 1988 and May 1994. The results of the study were as follows; 1. The mean age was 36 years. Three patients(5 case) were male and ten patients(14 cases) were female. 2. The mean value of the hallux valgus angle was $34.1^{\circ}$, and the first to second intermetatarsal angle was $12.1^{\circ}$, preoperatively. These angles were corrected to $15.8^{\circ}$ and $8.5^{\circ}$, respectively. 3. The metatarsalgia subsided in 17 cases (89.5%). avascular necrosis, non union, and dorsal angulation complicatious were nonexistant. Early bone healing occurred in all cases. 4. The Modified chevron osteotomy is technically simple. It provides excellent pain relief, early ambulation, increased mechanical stability, and many avoids many complications such as AVN, non-union, and dorsal angulation.