• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.548-553
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• 2008

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.133-134
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• 2007

A swing-up control strategy is suggested for a rotary inverted pendulum with restricted rotation range. In order to take the rotation range limitation into account, a new Lyapunov function used for energy-based control is proposed a control strategy is derived from the Lyapunov function. Futhermore, optimization-base parameter estimation is adopted to get an exact mathematical model for the pendulum. Simulation results show that the proposed control strategy swings up the rotary inverted pendulum efficiently.

• Physical Therapy Korea
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• v.31 no.1
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• pp.72-78
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• 2024

Background: Limitations of shoulder range of motion (ROM), particularly shoulder internal rotation (SIR), are commonly associated with musculoskeletal disorders in both the general population and athletes. The limitation can result in connective tissue lesions such as superior labrum tears and symptoms such as rotator cuff tears and shoulder impingement syndrome. Maintaining the center of rotation of the glenohumeral joint during SIR can be challenging due to the compensatory scapulothoracic movement and anterior displacement of the humeral head. Therefore, observing the path of the instantaneous center of rotation (PICR) using the olecranon as a marker during SIR may provide valuable insights into understanding the dynamics of the shoulder joint. Objects: The aim of the study was to compare the displacement of the olecranon to measure the rotation control of the humeral head during SIR in individuals with and without restricted SIR ROM. Methods: Twenty-four participants with and without restricted SIR ROM participated in this study. The displacement of olecranon was measured during the shoulder internal rotation control test (SIRCT) using a Kinovea (ver. 0.8.15, Kinovea), the 2-dimensional marker tracking analysis system. An independent t-test was used to compare the horizontal and vertical displacement of the olecranon marker between individuals with and without restricted SIR ROM. The statistical significance was set at p < 0.05. Results: Vertical displacement of the olecranon was significantly greater in the restricted SIR group than in the control group (p < 0.05). However, no significant difference was observed in the horizontal displacement of the olecranon (p > 0.05). Conclusion: The findings of this study indicated that individuals with restricted SIR ROM had significantly greater vertical displacement of the olecranon. The results suggest that the limitation of SIR ROM may lead to difficulty in rotation control of the humeral head.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.511-515
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• 2002

Extruded and cast plates of AZ type magnesium alloys were successfully joined by friction stir welding (FSW). Effect of FSW conditions on the formation of the defect was revealed in relation to tool rotation speed and specimen travel speed. Magnesium alloy with higher aluminum content became difficult to be joined and the optimum condition without defect was restricted into narrow condition range. The structure of the stirred zone was a fine-grained recrystallized structure even in the case of cast AZ91D. FSW joint had better mechanical properties than those of GTA welded joint. Especially the toughness of the stirred zone increased more than that of the base metal.

• Journal of Veterinary Clinics
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• v.20 no.3
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• pp.403-405
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• 2003

A 11 month-old Shihtzu was referred to the Veterinary Medical Teaching Hospital, Seoul National University. Clinical signs of this patient were lameness, shortening limb, angular deformity, rotation of foot, subluxaion of elbow joint and restricted range of movement of left forelimb. For the evaluation of the abnormalities of left forelimb, radiographic examination was carried out. Radiographic findings were characteristics of premature closure of distal ulna such as closure of distal ulna growth plate and cranial bowing of radius. With radiographic signs and physical examination, it was diagnosed as premature closure of growth plate of the left forelimb. After osteotomy of the radius and ostectomy of the ulna, radiographic evaluation of limb about angulation of elbow joint was performed every 2-3 weeks for 3 months. In case of premature closure of distal growth plate of ulna, radiography was very useful for diagnositic method of premature closure of distal ulna and monitoring of healing process.

• The Journal of Korean Physical Therapy
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• v.34 no.5
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• pp.255-266
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• 2022

Purpose: This study sought to study the effects of cross-legged sitting posture on joint motion. It also examined the correlation between the changes in the joint range of motion, musculoskeletal symptoms, and facial asymmetry. Methods: The Acumar Digital Inclinometer (Lafayette Instrument Company, USA) was used to measure the range of motion (ROM). We measured the flexion and extension of the cervical, thoracic, and lumbar spine using a dual inclinometer, and measured the ROM of the shoulder and hip joint with a single inclinometer. The Likert scale questionnaire was used to investigate musculoskeletal symptoms and facial asymmetry. Results: The data analysis was performed using the Jamovi version 1.6.23 statistical software. After confirming the normality of the ROM with descriptive statistics, it was compared with the normal ROM through a one-sample t-test. Correlation matrix analysis was performed to confirm the association between facial asymmetry and musculoskeletal symptoms. The result of the one-sample t-test showed a significant increase in the thoracic spine extension and right and left hip external rotation (p<0.001^***), while most other joints were restricted. As per the frequency analysis, facial asymmetry was found to be 81.70%. Conclusion: The independent variable, namely cross-legged sitting posture led to an increase in ROM. The study also suggests that facial asymmetry and musculoskeletal symptoms could occur. Therefore, to prevent the increase and limitation of ROM and to prevent the occurrence of facial asymmetry and musculoskeletal symptoms, it is suggested that the usual cross-legged sitting posture should be avoided.

• Journal of Korean Orthopaedic Sports Medicine
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• v.12 no.1
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• pp.29-36
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• 2013

Purpose: Proprioceptive function has been known to be important to shoulder stability. However, the function in rotator cuff tear patients is rarely investigated. The purpose of current study is to report the proprioceptive function in rotator cuff tear patients and to analyze the proprioceptive function regarding the tear size and the presence of subscapularis tear. Materials and Methods: Between 2011 and 2012, total 76 patients (male 28 and female 48) were recruited and average age was 61.7 years old (range, 38~76). Preoperatively, joint position senses in internal and external rotation were measured for proprioceptive function testing by method of active re-positioning technique. The absolute difference from set point was measured. Proprioceptive function was further analyzed according to tear size of rotator cuff, the presence of subscapularis tear, visual analogue scale of pain, shoulder functional score (American society of elbow and shoulder score), and ranges of motion in shoulder. Results: The absolute difference for external rotation was $4.9^{\circ}{\pm}2.9^{\circ}$, in normal joint and $4.9^{\circ}{\pm}3.0^{\circ}$for involved joint in rotator cuff tear patients. This difference was not significant statistically (p=0.87). The absolute difference for internal rotation was $4.0^{\circ}{\pm}2.7^{\circ}$in normal joint whereas $4.8^{\circ}{\pm}3.7^{\circ}$ for involved joint showing statistically significant difference (p=0.043). There was some trend that the proprioceptive function of internal rotation was more impaired in the bigger tear size group (more than medium tear) compared to the smaller tear size group (partial thickness and small tear, 5.0 vs. 4.0, p=0.061). The impairment of internal rotation proprioception was also accentuated in patients with subscapularis tear (4.8 vs. 4.0, p=0.065). The proprioceptive function of internal rotation was decreased when the pain visual analogue scale was increased (5.2 vs. 4.0 p=0.04), shoulder functional score was decreased (6.1 vs. 4.2, p=0.005), or range of motion in shoulder joint was restricted (5.3 vs. 3.7, p=0.041). Conclusion: The deficit of proprioceptive function was observed in rotator cuff tear patients. Proprioception for internal rotation was impaired in patients with the bigger tear size and subscapularis tear. Pain, shoulder function score, and range of motion were also shown to be related with the deficit in proprioceptive function.

• Journal of the Korean Arthroscopy Society
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• v.8 no.1
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• pp.45-50
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• 2004

Purpose: The purpose of this study is to compare the outcome of operative results in the impingement syndrome of the shoulder with and without the stiffness. Material and Method: Seventy-six patients who had the impingement syndrome without stiffness were evaluated, and treated with the subacromial decompression and 24 patients who had the impingement syndrome with stiffness, were treated with the subacromial decompression and the manipulation. The average follow-up period was 32 months. Result: The impingement syndrome of the shoulder with stiffness was more severe in the preoperative pain and worse in ASES score than without stiffness. The postoperative pain and ASES score improved in the both group. The satisfactory groups were 67% in the group with stiffness and 80% without stiffness. The satisfactory rate was 83% in the group with stiffness and 93% without stiffness. The satisfactory groups with diabetes were 47% in the group with stiffness and 81% without stiffness. Forward elevation, exeternal rotation at the side and internal rotation improved in both groups postoperatively and there were no statistically significant differences postoperatively External rotation was restricted statistically in the group with stiffness. Conclusion: Although patients may not regain the full range of motion, the technique of manipulation followed by arthroscopic subacromial decompression offers good pain relief and satisfactory functional recovery for the impingement syndrome with stiffness. However preoperative counseling is necessary for the impingement syndrome combined with diabetes and stiffness due to poor out come.

• Korean Journal of Acupuncture
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• v.41 no.3
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• pp.101-109
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• 2024

Objectives : Cervical myofascial pain syndrome (C-MPS), a key aspect of Visual Display Terminals (VDT) Syndrome, leads to acute and chronic pain due to muscle shortening, potentially causing headaches and movement disorders. This study examines the effectiveness of Pharmacoacupuncture at the intersection of the Splenius Capitis (SC), Levator Scapulae (LS), and Serratus Posterior Superior(SPS) muscles under ultrasound guidance, known as the "SLS triangle" in treating C-MPS. Methods : Three patients (aged 30 to 37) with acute C-MPS presented at two Korean medicine clinics with severe neck pain and restricted cervical rotation. The evaluation of symptoms before treatment, immediately after treatment, and one day after treatment was conducted using the cervical rotation Range of motion (ROM) and the Numeric Rating Scale (NRS) for cervical pain. Treatments included Acupuncture, Cupping therapy, Chuna manipulation, Physical Therapy, and Pharmacopuncture (Jaha-geo extract, 2cc at the SLS triangle). Results : All three patients showed significant improvement post-treatment. Immediately after treatment, Patient 1's NRS improved from 7 to 2, Patient 2's NRS improved from 4 to 1, and Patient 3's NRS improved from 6 to 2. Directly after the procedure, there were no significant adverse reactions except for one patient experiencing temporary dizziness. When the patients were followed up by phone 24 hours later, no adverse reactions were reported. Conclusions : This study demonstrates that ultrasound-guided pharmacopuncture can significantly reduce pain and improve cervical rotation in patients with cervical myofascial pain syndrome. The findings suggest this non-invasive treatment is both safe and effective, warranting further research through larger-scale clinical trials to validate its efficacy and establish standardized protocols.

• The Journal of Korean Society for Radiation Therapy
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• v.28 no.2
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• pp.109-121
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• 2016

To verify the accuracy of the image guided radiotherapy using ExacTrac 6D couch, the error values in six directions are randomly assigned and corrected and then the corrected values were compared with CBCT image to check the accurateness of ExacTrac. The therapy coordination values in the Rando head Phantom were moved in the directions of X, Y and Z as the translation group and they were moved in the directions of pitch, roll and yaw as the rotation group. The corrected values were moved in 6 directions with the combined and mutual reactions. The Z corrected value ranges from 1mm to 23mm. In the analysis of errors between CBCT image of the phantom which is corrected with therapy coordinate and 3D/3D matching error value, the rotation group showed higher error value than the translation group. In the distribution of dose for the error value of the therapy coordinate corrected with CBCT, the restricted value of dosage for the normal organs in two groups meet the prescription dose. In terms of PHI and PCI values which are the dose homogeneity of the cancerous tissue, the rotation group showed a little higher in the low dose distribution range. This study is designed to verify the accuracy of ExacTrac 6D couch using CBCT. It showed that in terms of the error value in the simple movement, it showed the comparatively accurate correction capability but in the movement when the angle is put in the couch, it showed the inaccurate correction values. So, if the body of the patient is likely to have a lot of changes in the direction of rotation or there is a lot of errors in the pitch, roll and yaw in ExacTrac correction, it is better to conduct the CBCT guided image to correct the therapy coordinate in order to minimize any side effects.