• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.39-50
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• 2016

Objective: The purposes of this study were to compare the kinematics of a two-arm kettlebell swing between experts and beginners and to identify the correct postures and biomechanical key points in an attempt to prevent sports injuries induced by a kettlebell swing. Methods: Four experts (height, $169.7{\pm}1.5cm$; weight, $70.5{\pm}1.8kg$; age, $32.0{\pm}1.0years$) licensed to teach kettlebell exercises and three beginners (height, $173.7{\pm}4.1cm$; weight, $78.3{\pm}3.8kg$; age, $30.0{\pm}1.4years$) with no kettlebell exercise experience participated in this study. Each participant performed 15 repetitions of a two-arm kettlebell swing using a 16-kg weight. Joint angles, angular velocities, and peak angular velocity sequences were calculated and compared between the two groups. Results: Large ranges of motion (ROM) of the pelvic angle and hip joints were detected in the experts, while beginners showed greater ROM of the shoulder joint. Peak angular velocity magnitudes and sequences were significantly different between the two groups. Experts lifted the kettlebell upward using the hip joints, pelvis, and shoulder joints (proximal to distal order) sequentially and lowered it using the reverse order of peak angular velocities from the shoulder to hip joints. Conclusion: Mobility of the pelvic segment and hip joint are required, while stability of the other joints is needed to produce appropriate two-arm kettlebell swings. The activation and coordination of the gluteal and hamstring muscles are key points in kettlebell exercises.

• 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.

• Physical Therapy Korea
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• v.25 no.2
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• pp.22-29
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• 2018

Background: Deficits of both ankle dorsiflexion range of motion (DFROM) and dynamic balance are shown in persons with chronic ankle instability and the elderly, with the risk of falls. Objects: This study aims to investigate the relationship between DFROM and dynamic balance in elderly subjects and young adults. Methods: Fifty-nine subjects were divided into three groups: ankle stability young group (SY), ankle instability young group (IY) and ankle stability older group (SO). We recruited three old subjects with ankle instability, but excluded them during a pilot testing due to the safety issue. DFROM was measured by weight bearing lunge test (WBLT) and dynamic balance was measured via star excursion balance test (SEBT) in anteromedial, medial, and posteromedial directions. The group differences in WBLT and SEBT and each group's correlation between WBLT and SEBT were detected using the R statistical software package. Results: The dorsiflexion range of motion was significantly different between the SY, IY, and SO groups. The SO group showed the highest DFROM and IY group showed the lowest DFROM (SY: $45.88{\pm}.66^{\circ}$, IY: $39.53{\pm}1.63^{\circ}$, SO: $47.94{\pm}.50^{\circ}$; p<.001). However, the SO group showed the lowest dynamic balance score for all SEBT directions (SY: $87.24{\pm}2.05cm$, IY: $83.20{\pm}1.30cm$, SO: $77.23{\pm}2.07cm$; p<.05) and there was no relationship between the dorsiflexion range of motion and dynamic balance in any group. Conclusion: Our findings suggest that ankle DFROM is not a crucial factor for dynamic stability regardless of aging and ankle instability. Other factors such as muscle strength or movement coordination should be considered for training dynamic balance. Therefore, we need to establish the rehabilitation process by measuring and treating ROM, balance, and muscle strength when treating young adults with and without ankle instability as well as elderly people.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Proceedings of the Korean Vacuum Society Conference
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• 2015.08a
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• pp.63.2-63.2
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• 2015

Controlling and sensing spin states of magnetic molecules such as metallo-porphyrins at the single molecule level is essential for spintronic molecular device applications. Axial coordinations of diatomic molecules to metallo-porphyrins also play key roles in dynamic processes of biological functions such as blood pressure control and immune response. However, probing such reactions at the single molecule level to understand their physical mechanisms has been rarely performed. Here we present on our single molecule association and dissociation experiments between diatomic and metallo-porphyrin molecules on Au(111) describing its adsorption structures, spin states, and dissociation mechanisms. We observed bright ring shapes in NO adsorbed metallo-porphyrin compelxes and explained them by considering tilted binding and precession motion of NO. Before NO exposure, Co-porphryin showed a clear zero-bias peak in scanning tunneling spectroscopy, a signature of Kondo effect in STS, whereas after NO exposures it formed a molecular complex, NO-Co-porphyrin, that did not show any zero-bias feature implying that the Kondo effect was switched off by binding of NO. Under tunneling junctions of scanning tunneling microscope, both positive and negative energy pulses. From the observed power law relations between dissociation rate and tunneling current, we argue that the dissociations were inelastically induced with molecular orbital resonances. Our study shows that single molecule association and dissociation can be used to probe spin states and reaction mechanisms in a variety of axial coordination between small molecules and metallo-porphyrins.

• Interaction and multiscale mechanics
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• v.3 no.4
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• pp.365-372
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• 2010

Station is an important building in high-speed railway, and its vibration and noise may significantly affect the comfort of waiting passengers. A coupling vibration model for train-structure system is established to analyze and evaluate the vibration level of a typical waiting hall under dynamic train load. The motion of a four-axle vehicle with two suspension system is modeled in multi-body dynamics with linear springs and dampers employed. The station is modeled as a whole finite element structure which is 113 m in longitudinal and 163.5 m in lateral, and the stiffness of the station foundation is considered. According to the assumptions that both wheel and rail are rigid bodies and keep contact to each other in vertical direction, and the wheel/rail interaction and displacement coordination in horizontal direction is defined by the simplified Kalker creep theory, the vehicle spatial vibration model has 27 degrees-of-freedom. An overall analysis procedure is made of the train moving through the station, by which the dynamic responses of the train and the station are calculated. According to the comparison between analysis and test results, the actual connection status between different parts of the station is estimated and the vibration level of the waiting hall is evaluated.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.9
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• pp.1628-1635
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• 2008

In this paper, the motion coordination algorithm of mobile agents in active sensor network is proposed to track the dynamic boundary for environmental monitoring. While most of dynamic boundary tracking algorithms in the literature were studied under the assumption that the boundary and/or its evolving rate is known a priori, the proposed algorithm is assumed that the individual active agent can measure the state of environment locally without any information of the boundary. When the boundary is evolving dynamically, the formation of active agents is designed to achieve two objectives. One is to track boundary layer based on the measured information and a small deviation. The other is to maintain a uniform distance between adjacent agents. The algorithm structure based on a state diagram is proposed to achieve these two objectives. Finally, it will be shown in the simulations that all given agents converge to a desired boundary layer and maintain a formation along the boundary. (e.g., a circle, an ellipse, a triangle and a rectangle)

• PNF and Movement
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• v.5 no.1
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• pp.29-35
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• 2007

Purpose : The purpose of this study was investigated to find the approach in the PNF and TC for frail elder Method : This is a literature study with books, articles, seminal note and books for PNF and TC international course. Result : Neural mechanisms contribute significantly to the gains that occur in the range of motion about a joint with stretching exercises. The participation in a stretch-training program decreases tonic reflex activity and increases flexibility and decreases in force production and muscle activation. Also the stretching-induced decreases may be due to a central nervous system inhibitory mechanism. PNF stretch techniques can increase ROM in older adults. These results may differ from those of studies performed with younger populations because of age-related physiologic changes. TC exercise improves balance control and muscle strength and were associated with reorganized lower extremity neuromuscular patterns. Conclusions : The stretch training program of the PNF and TC contribute to increase the balance and coordination for frail elder. Therefore, The frail elder prevent falling. Further study, The PNF and TC be introduced as the new therapeutic intervention for frail elder.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.