• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1922-1927
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• 2005

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• Korean Journal of Applied Biomechanics
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• v.21 no.3
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• pp.345-352
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• 2011

The purpose of this study was to determine how spandex wear with compressive band affects biomechanical parameters during a golf swing. Nine male golf players, each with at least 6 years golf experienc(handy 4.5${\pm}$5.4), were recruited as the participants. Eight pairs of surface electrodes were attached to the left and right side of the body to monitor the pectoralis major(PM), external abdominal oblique(AO), erector spinae(ES), and vastus lateralis(VL). This study showed that the angular velocity of the club in EG were increased during the down swing phase but X-Factor and X-factor Stretch were reduced. Average and maximum nEMG (normalized EMG) values of the left AO(external abdominal oblique) were less in EG(experimental group) compared with CG(control group) during the back swing, whereas those of left PM(pectoralis major) in EG were greater than CG. It is more likely that EG performed effectively golf swing without excess muscle activity. Thus, the spandex wear with compressive band played an important role in improving swing performance with injury prevention. This has led to suggestions of the need for further kinetic and kinematic analyses to evaluate its function.

• Physical Therapy Korea
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• v.2 no.2
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• pp.73-84
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• 1995

Spasticity has been defined as a motor disorder characterised by a velocity-dependent increase in tonic stretch reflexes with exaggerated tendon jerks resulting in hyperexcitability of the stretch reflexes as one component of the upper motor neuron syndrome. Weakness and loss of dexterity, however, are considered to be more disabling to the patient than changes in muscle tone. The discussion includes the important role that alterations in the physiology of motor units, notably changes in firing rates and muscle fiber atrophy, play in the manifestation of muscle weakness. This paper considers both the neural and mechanical components of spasticity and discusses, in terms of clinical intervention, the implications arising from recent research. Investigations suggest that the resistance to passive movement in individuals with spasticity is due not only to neural mechanisms but also to changes in mechanical properties of muscle. The emphasis is on training the individual to gain control over the muscles required for different tasks, and on preventing secondary and adaptive soft tissue changes and ineffective adaptive motor behaviours.

• PNF and Movement
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• v.2 no.1
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• pp.25-33
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• 2004

Purpose : The purpose of this article is to summarize the characteristics of isotonic combination. Method : Some studies of the motor unit activation patterns during isometric, concentric, and eccentric actions, neural strategies in the control of muscle force, and concentric versus combined concentric-eccentric training were reviewed. Results & Conclusions : Eccentric torque may be relatively higher than concentric torque for two potential reasons: 1) stretch responses in the antagonist are not elicited to restrain the motion as can occur concentrically and 2) stretch responses in the agonist may augment eccentric torque production. Concentric-eccentric training has a greater influence on functional capacity than that of concentric training. Both maximal force and average force throughout the motion were significantly higher when the dynamic action was started with preactivation as compared to the mode without preactivation. The peak torques observed during the concentric phase of the eccentric-concentric muscle actions were higher than those noted in the pure concentric contraction.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.249-251
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• 2005

For walking patterns of biped robots, knee-bent patterns are used in most cases. However, humans are mostly walking with their knees nearly stretched. In this paper, a human-like walking algorithm using hybrid system is proposed for biped robots, The hybrid system consists of the logically constituted discrete system, in which the discrete states are defined by considering the walking characteristics, and the continuous state system used for motor control. It is shown that the proposed algorithm is effective by experimental studies.

• Transactions of Materials Processing
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• v.20 no.3
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• pp.206-213
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• 2011

A flexible die, which is composed of a number of punches with adjusted heights to form a three-dimensional curved surface, is a crucial part of a flexible forming technology. In this study, the punch and control system of the flexible die were designed. The flexible die is divided into three modules, namely, punch, control and joint, and the corresponding modules were developed. The punch module materializes a three-dimensional forming surface by the control module, which is composed of an AC servo motor set and a linear guide. The joint module is necessary for the sequential motion between the servo motor set and the punch module. A sequential motion algorithm for the AC servo motor set, that uses the data of the punch relative heights, was also proposed. Finally, a flexible stretch forming test was carried out using the presently designed flexible die.

• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.167-176
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• 2007

The purpose of this study was to offer suitable model for performing Tippelt motion and data for training Tippelt motion through the quantitative kinematical analysis of Tippelt motion in parallel bars. The results of analysing kinematic variations through three-dimensional reflection analysis of three members of the national team as the objects of the study were shown as follows. 1. It seemed that the shoulder-joints which are stretched as much as possible affects the whole Tippelt motion while one is swinging downward. The time of process of the center of mass for the body reaching to the maximum flection point should be quick and body's moving from the vertical phase to the front direction should be controled as much as possible. 2. While one is swinging upward, the stability of flying motion could be made certain by the control of body's rapid moving to the front direction and stretching shoulder-joints and hip-joint to reverse direction. 3. While one is flying upward, the body should be erected quickly and lessening the angle of the hip-joint affects the elevation of flight. When the powerful counter turn motion is performed, the stable motion could be made. As a result of this study, It seems that sudden fall and the maximum stretch of shoulder-joints is important during performing Tippelt motion in parallel bars. Also, it concludes that the maximum bending of hip-joints at the starting point of upward swing, sudden stretch to the reverse direction of shoulder-joints and hip-joints when one is leaving bars, control of body's moving to the front direction, and lessening the angle of hip-joints at the flying phase is important.

• Journal of The Korean Society of Integrative Medicine
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• v.3 no.4
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• pp.61-67
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• 2015

Purpose : The purpose of this study was to find out the effect of exercise on the angle and distance between scapular stability and McKenzie stretch exercise. Method : 30 volunteers took part in this experiment and we divided into three groups(experimental group A, experimental group B, control group C). Experimental group A performed scapular stabilization exercise and experimental group B performed McKenzie neck stretching exercise and control group didn't perform any exercise. Experimental group(A, B) received a total of 12 exercise session over a 4 week period (three times per week). Posture and craniovertebral angle changes of the neck using GPS measurements reported. Result : The CVA and distance change after exercise were significantly reduced in the experimental group A and B. Conclusion : Therefore, we have confirmed through experiments reducing a CVA and distance between scapular stabilization and McKenzie neck stretching exercises, whereby we would also be helpful to ensure the treatment of forward head posture.