• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.424-428
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• 2016

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1747-1755
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• 2008

In domestic interurban railway which runs between miles away city has foot rest for each chair. One of the interurban train Muunghwa, the chair can rotate in each direction. When chair rotates the foot rest gets damaged related to the position. Up to now many various solution was made to clear this problem but effect was insufficient. So solve this problem, approach was made in human body engineering point of view. Also Advanced country case study was made. Through this research the field point of issue will be cleared and so as customer satisfaction. This paper describes the effective methode to improve the foot rest damage problem.

• Journal of the Korean Society of Mechanical Technology
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• v.20 no.6
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• pp.912-916
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• 2018

Crawling robots are advantageous in overcoming obstacles. These robots have characteristics such as light weight and outstanding mobility. In case of large robots, they have difficulties passing narrow gaps or entering the cave. In this paper, we propose a milli-scale hexapedal robot using 4-bar linkages. Two conditions are necessary to enable efficient walking. In short, the trajectory of the foot must be elliptical, and the lowest point of the foot should be the same. These conditions are satisfied with a novel leg design. The robot has a pair of three legs and the legs are coupled to operate simultaneously. Each set of the legs are installed to robot's both sides and the legs satisfy the equal lowest foot point and elliptical trajectory. As a result, this hexapedal robot can crawl with 0.56m/s speed.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.35-42
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• 2012

The aim of the present study was to investigate effect of running speed conditions on the kinematic pattern of the metatarsus, mid-foot, calcaneus. Twenty-two healthy young adults were made to run on treadmill at three different running speeds(normal speed, 9.2; slow speed, 7.4; fast speed, 11.1km/hr.) and the trajectories of the 10 reflective markers for each subject were recorded by an eight-camera motion capture system at 200 Hz. Three-dimensional angles for the foot segment in the support phase during running were calculated according to Euler's technique. Results showed that running speed did not affect the peak of the dorsi/plantar flexion, inversion/eversion, and adduction/abduction or their range of motion for each foot segment. However, when the running speed was fast, significant differences were found in the peak of the plantar flexion, eversion, and adduction and ROM(range of motion) of the dorsi/plantar flexion, inversion/eversion, and adduction/abduction between the foot segments, metatarsus, mid-foot, and calcaneus. It was proposed that the foot segment should be analyzed from a multi-segment system point of view on the basis of anatomical reference during locomotion.

• Journal of International Academy of Physical Therapy Research
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• v.8 no.1
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• pp.1084-1089
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• 2017

The purpose of this study was to compare and analyze the difference of the ankle joint movements during landing. Seven adult males voluntarily participated in the study and the average foot size of the subjects was 269.8 mm. Image analysis equipment and the ground reaction force plate (landing type) was used to measure th kinetic variables. As a result of this study, it was confirmed that the vertical ground reaction force peak point appeared once in the barefoot with forefoot, while two peak points appeared in the barefoot and functional shoe foot with rear foot landing. About ankle angle, fore foot landing ankle angle, the average with bare foot landing was $-10.302^{\circ}$ and the average with functional shoe foot landing was $-2.919^{\circ}$. Also about rear foot landing, ankle angle was $11.648^{\circ}$ with bare foot landing and $15.994^{\circ}$ with functional shoe landing. The fore foot landing, ankle joint force analysis produced 1423.966N with barefoot and 1493.264N with functional shoes. But, the rear foot landing, ankle joint force analysis produced 1680.154N with barefoot and 1657.286N with functional shoes. This study suggest that the angle of ankle depends on the landing type and bare foot running/functionalized shod running, and ankle joint forces also depends on landing type.

• Journal of Biomedical Engineering Research
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• v.31 no.1
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• pp.67-73
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• 2010

The foot performs an important function in supporting the body and keeping body balance. An abnormal walking habit breaks the balance of the human body as well as the normal function of the foot. The influence of a flatfoot(pes planus) occupies a considerable portion of the various causes resulting in the wrong walking habit. But, little studies has been done by the functional foot orthotics for the flat foot. The object of this study, therefore, is to propose a new approach method to reveal the effects of the improvement of the foot function by using orthotics. The essential point of this study is to measure and analyze the change of ankle angle in the sagittal plane for flat foot subjects wearing the orthotics. Before and after wearing the functional orthotics, the gait analysis of flat foot subjects was conducted in three experimental aspects : the change of ankle angle, the change of the total Ankle ROM and the difference of left & right ankle angle in the sagittal plane. 1. The average ankle angle differences of before-and-after wearing the orthotics have declined like this; left : $2.71^{\circ}$, right: $1.91^{\circ}$ (p<0.05). 2. Total ankle ROM also showed decrease in both sides while the left side's is rather slight; left : $0.57^{\circ}$, right : $2.07^{\circ}$ (p<0.05). 3. The difference of left and right ankle angle in the sagittal plane decreased by $0.71^{\circ}$ (p<0.05). In result, it is confirmed that the functional foot orthotics have a significant effect on mechanical movement of ankle joint for flat foot. it is expected that this paper will be further studied and improved as a practical estimation method in the research on the effect of foot-orthotics.

• Journal of Haehwa Medicine
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• v.13 no.2
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• pp.277-287
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• 2004

I have come to next conclusions in consequence of documentary study about medical books of many generations regarding venesection therapy. 1. Venesection therapy is much used for five sensory organ disease. Besides that internal disease, pain paralysis disease of muscle and joints, sugical disease, disease of woman and children, fever sunstroke CVA emergency case follow that in the order of frequency of use. 2. It is used for swollen tongue, eye pain, pharyngitis, swelling and pain in the throat, bleeding from the eye ear nose mouth or subcutaneous tissue, tonsillitis, aphthae and so on in the five sensory organ disease. Focus, sosang, jinjin yuye, taiyang, baihui are used for five sensory organ disease in the order of frequency of use. 3. It is used for malaria, headache, precordial pain, head-wind, abdominal colic, diseases characterized by acute diarrhea and vomiting, and so on in the Internal disease. Superficial venules and lymph vessesls, taiyang, quze are used for Internal disease in the order of frequency of use. 4. It is used for low back pain, hypochondriac pain, numbness, knee pain, tinea pedis, red swelling pain of hand and arm, flaccidity-syndrome, and so on in the pain paralysis disease of muscle and joints. Weizhong, superficial venules and lymph vessesls, Ashi point, zhigou are used for pain paralysis disease of muscle and joints in the order of frequency of use. 5. It is used for furuncle, tinea capitis, and so on in the sugical disease. Focus, weizhong are used for sugical disease in the order of frequency of use. 6. It is used for inflammatory disease with redness of skin, and so on in the disease of woman and children. Focus, weizhong, yanglingquan, yaoshu, sanyinjiao are used for disease of woman and children in the order of frequency of use. 7. It is used for fever, CVA, sunstroke, cadaverous coma, common cold, and so on in the fever sunstroke CVA emergency case. Sosang, weizhong, chize are used for fever sunstroke CVA emergency case in the order of frequency of use. 8. The urinary bladder channel of foot-taiyang is most used. Next there are the du channel, the stomach channel of foot-yangming, the lung channel of hand-taiyin, the gall baldder channel of foot-shaoyang, the triple-warmer channel of hand-shaoyang, the large intestine channel of hand-yangming, the spleen channel of foot-taiyin, the kidney channel of foot-shaoyin the pericardium channel of hand-jueyin the liver channel of foot-jueyin, the ren channel, the heart channel of hand-shaoyin, the small intestine channel of hand-taiyang in the order of frequency in use. 9. Superficial venules and lymph vessesls, focus, five shu points, extra-point, back point are used in the venesection therapy, those are characteristic of locating an acupuncture point.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.75-89
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• 2005

D. K. LEE, J. S. LEE, B. J. LEE, H. S. LEE, Y. J. KIM, S. B. PARK, J. P. JOO. Plantar foot pressure analysis during golf swing motion using plantar foot pressure measurement system. Korean Journal of Sport Biomechanics, Vol. 15, No. 1, pp. 75-89, 2005. In this study, weight carrying pattern analysis and comparison method of four foot region were suggested. We used three types of club(driver, iron7, pitching wedge). This analysis method can compare between top class golfer and beginner. And the comparison data can be used to correct the swing pose of trainee. If motion analysis system, which can measure the swing speed and instantaneous acceleration at the point of hitting a ball, is combined with this plantar foot force analysis method, new design development of golf shoes to increase comfort and ball flight distance will be available. 1. Address acting, forces concentrated in rare foot regions and lateral foot of right foot. Back swing top acting, relatively high force occurred in medial forefoot region of left foot and forefoot region of right foot. Impact acting, high force value observed in the lateral rarefoot region of left foot and medial forefoot region of right foot. Finish acting, force concentration observed on the lateral region and rarefoot region of left foot. 2. Forces were increased in address of right foot with clubs length increased. All clubs, back swing top acting, high force value observed in the lateral forefoot region of right foot. All clubs, in impact, high force value observed in the lateral rarefoot region of left foot and medial forefoot region of right foot. Finish acting, force concentration observed on the rarefoot region in driver and lateral foot region in iron on left foot. 3. Right foot forces distribution were increased in address, back swing top and left foot force distribution were increased in impact, finnish

• Korean Journal of Applied Biomechanics
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• v.16 no.1
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• pp.65-79
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• 2006

The purpose of this study was firstly to investigate correctional function of custom semi-rigid foot orthotics for excessively pronated people during gait by observing comfort, navicular movement and leg muscles' activity according to short-term and mid-term wearing duration and secondly to understand positive and/or negative point of view of a recently proposed paradigm related to foot orthotics more profoundly. Sixteen subjects who showed excessive pronation at navicular drop test were recruited for this study. Custom semi-rigid foot orthotics were made fitting for foot characteristics of the subjects by podiatry division of Otto Bock Korea company. While wearing the foot orthotics for two months, comfort of wearing were questioned and vertical navicular movement and electromyography of leg muscles during gait were measured at the condition of both immediately after and 2 months after including a control condition, respectively. The subjects were required to walk on a treadmill at the speed of 1.5m/s and four digital video camera filmed the movement of navicular process at the speed of 60 frames/s. In conclusion, in excessively pronated group continuous increase of comfort from short-term to mid-term wearing of custom foot orthotics is assumed to be closely related with short-term and mid term correctional action, of which are consisted the decrease of the range of navicular drop and navicular raisins- the faster timing of minimum navicular position occurring, and the decrease of leg muscles' activities. This conclusion could lead to positively accept new paradigm related to foot orthotics suggested by Nigg and the author suggest that in the future study the variable which could observe navicular movement would be one of major variables to study preferred path of skeleton in the paradigm.

• The Journal of the Korea Contents Association
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• v.18 no.1
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• pp.441-451
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• 2018

The main point of this study is to use the principle of Coriolis force and the sense of fingertips to scratch the surface of the wall by high-speed rotation (RPM) to push the texture of the stripe from the inside to the outer wall, and to express the beautiful, dynamic and distinctive outer wall texture that is diversified by Coriolis force (centrifugal force). This is designated as Coriolis force technique. In addition, instead of the traditional flat bottom foot onggi molding technique, a new type of flat bottom foot that uses the electric wheel to push the cylinder from inside to out to expand the outer wall and to spread the bottom of foot flatly. The purpose of this study is to create a modernized, distinctive, new interior work by fusing these techniques.