• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1190-1193
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• 2004

The purpose of this study is to evaluate the possibility of identifying joint damping property through commercially available isokinetic ergometer (BIODEX). The proposed method is to estimate the damping torque of the knee joint from the difference between the external joint torque for maintaining isokinetic movement and the gravity torque of the lower leg. The damping torque was estimated at various joint angular velocities, from which the damping property would be derived. Measurement setup was composed of the BIODEX system with an external force sensor and Labview system. Matlab was used in the analysis of the damping property. The experimental result showed that the small variation in angular velocity due to acceleration and deceleration of the crank arm resulted in greater change of inertial torque than the damping torque, so that the estimation of damping property from the isokinetic movement is difficult.

• Journal of Oral Medicine and Pain
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• v.21 no.2
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• pp.369-382
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• 1996

The author performed this study to investige the relationship between condylar movements recorded with Pantronicⓡ and mandibular rotational torque movements with BioEGNⓡ. For this study 56 patients with Temporomandibular disorders(TMD) and 30 dental students without any masticatory signs and symptoms were selected as patients group and control group, respectively. The items recorded with Pantronicⓡ(Denar Corp., USA) were immediate side-shift, progressive side-shift, angle of orbiting path, protrusive path and PRI. BioEGNⓡ(Bioelectric gnathography, Bioresearch Inc., USA) were used to measure the amounts of mandibular rotational torque movements in frontal and horizontal plane, and the distance of mandibular translation at incisal area. Amount of mandibular rotational torque movement depicted between the condyles was automatically analysed by angle and difference in frontal and horizontal plane. The obtained data were processed with SAS program and the conclusion of this study were as follows : 1. Mean values of items between patients group and control group in Pantronic measurements were not significantly different except in left protrusive path and in Pantronic Reproducibility Index(PRI). There were no significant difference of condylar paths by preferred chewing side and affected side between the two groups. 2. The amount of mandibular rotational torque movements were differed in frontal angle and difference on protrusion, and in frontal and in horizontal difference on left excursion between the two groups. But the amounts of translatory movements were actually same on all eccentric movements. 3. The amount of mandibular rotational torque movements with splint mere almost not changed from those without splint, with the exception of in horizontal measurements on protrusion. 4. The correlations of items between in Pantronic measurements and in BioEGN measurements wert not consistently, significant, however, generally the ISS related significantly with horizontal torque movement positively, and with frontal torque movement negatively on the contrary, the PSS showed positive correlation with frontal torque movement, and negative correlation with horizontal torque movement.

• Journal of Oral Medicine and Pain
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• v.30 no.4
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• pp.411-426
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• 2005

The purpose of this study was to investigate the effects of occlusal condition and clenching level on the mandibular torque rotational movement. For this study, healthy 14 men without any symptoms and signs of temporomandibular disorders were selected. Mandibular torque rotational movement was observed in each circumstance of combination of three occlusal conditions such as natural dentition, with wafer of 3.6 mm thickness, and wafer with resin stop of 14 mm thickness total during hard biting of bite stick at maximum voluntary contraction(MVC) and 50% of MVC level of surface EMG activity of masseter muscle. Electromyographic activity and mandibular torque rotational movement were observed using BioEMG and BioEGN in $BioPak^{(R)}$ system. Each biting movement in each circumstance was composed of clenching one time and hard biting of wooden stick two times. The observed items were opening distance, velocity and amount of torque rotational movement in mandibular movement, and the data were statistically processed with $SPSS^{(R)}$ windows (ver.10.0). The results of this study were as follows: 1. There were no differences in the mandibular movement distance between those value in both biting sides, and between those in both clenching forces, but the mandibular velocity showed a different results by clenching force. For the amount of torque rotational movement, there were no difference in the value of the frontal plane but some significant difference was in the value of the horizontal plane by biting side. 2. The mandibular movement distance and the mandibular velocity in both planes were higher by maximum voluntary contraction than those by half maximum voluntary contraction, and amount of torque rotational movement in the horizontal plane was also increased by maximum voluntary contraction. 3. The opening distance in both planes were decreased with the increase of vertical dimension of occlusion, namely, by the occlusal appliances, and this pattern was also showed in the mandibular velocity in case of hard biting by maximum voluntary contraction. However, the amount of torque rotational movement were not different by the increase of vertical dimension of occlusion. 4. The value of angle and distance of the torque rotational movement in the hard biting of wooden stick were generally higher than those in the clenching without wooden stick in both planes without regard to occlusal conditions and/or clenching forces.

• Journal of Biomedical Engineering Research
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• v.31 no.2
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• pp.162-169
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• 2010

This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.

• Journal of Oral Medicine and Pain
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• v.24 no.2
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• pp.207-217
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• 1999

This study was performed to investigate the effects of clutch adaptation on the mandibular rotational torque movement in normal people. 69 dental students were selected for the study. Their mean age were 23.6 years and they did not present any signs and symptoms of temporomandibular disorders. $BioEGN^{(R)}$ with $Rotate^{(R)}$ program was used to observe and record the amount of mandibular rotational torque on protrusion, on right excursion, on left excursion, and on comfortable wide opening movement. The natural tooth contact movement and the movement with clutch were performed in the above four each mandibular movement. Clutch was made by the method used in $Pantronic^{(R)}$ clutch fabrication. Distance of slant frontal which was translatory trajectory in frontal plane and degree of rotational torque in horizontal and in frontal plane were recorded. The data obtained were processed with SPSSWIN program and the results were as follows : 1. Distance of slant frontal in each mandibular movement generally increased with clutch. 2. Degree of rotational torque in horizontal and in frontal plane on protrusion and on lateral excursions did not increase with clutch, but the degree on wide opening increased with clutch. 3. Degree of rotational torque in horizontal plane on protrusion and on lateral excursions did not show any difference between right and left side, but the degree in frontal plane on protrusion and on lateral excursions showed significant difference between right and left side. 4. Total amount of rotational torque from right and left sides on protrusion and lateral excursions were not increased with clutch, but the degree on wide opening movement was increased with clutch. And in this case, degree in horizontal plane was larger than that in frontal plane. 5. Correlation between total amount of rotational torque in horizontal plane and that in frontal plane were highly significant on protrusion and on lateral excursions with or without clutch, but the significant correlation on wide opening without clutch became not significant with clutch.

• Journal of Oral Medicine and Pain
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• v.26 no.1
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• pp.59-73
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• 2001

This study was performed to investigate the effects of occlusal appliance on the mandibular position and the mandibular rotational torque movement during speech. For this study, 20 patients with temporomandibular disorders(TMDs) and 20 normal subjects without any signs and symptoms in the masticatory system were selected as the patient group and as the normal group, respectively. Biopak $system^{(R)}$(Bioresearch Inc., Milwaukee, USA) and a sentence of 'Sue is missing her house' were used for recording and for observing of speech pattern. There were five mandibular positions observed in this study, that is, mandibular rest position, 'ssi', 'her', 'ha', and 's' speech position. In each position, slant and A-P distance in sagittal plane, vertical distance and lateral distance in frontal plane were measured. Amount of the mandibular rotational torque movement were measured at 'her', 'ha' speech position and for all through speech movement. Centric relation splint(CRS) was placed in both groups, but anterior or posterior bite plane were placed in normal subjects only. Data collected were processed and analysed by SPSS windows program. The results of this study were as follows : 1. Mandibular positions in both groups were not different before adaptation, with CRS, and after removal, but total amount of the mandibular rotational torque movement was greater in patients. 2. Mandible was slightly placed anteriorly with CRS at 'her' and 'ha' speech position in patients, but was placed anteriorly at all the five positions in normal subjects. 3. Difference with type of occlusal appliance in normal subjects were noted only for vertical distance at 'ssi' and 'ha' speech position, and the distance with CRS were more than that with posterior bite plane. 4. Mandibular rotational torque movement at 'her' and 'ha' speech position was greater in patients, but the difference was disappeared after appliance removal. And the torque movement was greater at 'ha' speech position than that at 'her' speech position in frontal plane. It could be concluded that the adaptation of occlusal appliance showed a tendency to locate the mandible anteriorly during speech in both groups, but did not affect total mandibular rotational torque movement which was greater in patients.

• Journal of Oral Medicine and Pain
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• v.25 no.4
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• pp.383-394
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• 2000

This study was performed to investigate the effect of change of body posture on the rest position and the rotational torque movement of the mandible. Thirty dental students without any signs and symptoms of temporomandibular disorders and with natural dentition were selected for this study. Cervical inclination and the amount of the mandibular movement on protrusion, on left and right excursion, and on tapping in three body postures such as sitting position, supine position without pillow, and supine position with pillow were measured by goniometer, Cervical-Range-of-$Motion^{(R)}$, and mandibular tracking device, $BioEGN^{(R)}$ with $Rotate!^{(R)}$ program. The data obtained were classified and processed according to body posture and type of lateral guidance with SPSS windows program and the results were as follows: 1. There was significant difference among the three cervical inclinations by body postures. 2. Comparison of mandibular rest positions among body postures showed significant difference only for lateral distance in frontal plane, but comparison between before and after swallowing showed significant difference except for the lateral distance, vice versa. 3. Distance and amount of the rotational torque movement on protrusion and/or lateral excursions didn't show any difference by body posture. But by both body posture and lateral guidance type, there were slightly significant difference for some items. 4. A significant difference was shown for the rotational torque movement in frontal plane on tapping by body postures, for the lateral distance in frontal plane on sitting position by lateral guidance type, and for the rotational torque movement in frontal plane by both body posture and lateral guidance type.

• Science of Emotion and Sensibility
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• v.7 no.4
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• pp.19-24
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• 2004

The purpose of this study is to evaluate the possibility of identifying joint damping property through commercially available isokinetic ergometer (BIODEX). The proposed method is to estimate the damping torque of the knee joint from the difference between the external joint torque for maintaining isokinetic movement and the gravity torque of the lower leg. The damping torque was estimated at various joint angular velocities, from which the damping property would be derived. Measurement setup was composed of the BIODEX system with an external force sensor and Labview system. Matlab was used in the analysis of the damping property. The experimental result showed that the small variation in angular velocity due to acceleration and deceleration of the crank arm resulted in greater change of inertial torque than the damping torque. Therefore, the estimation of damping property from the isokinetic movement is difficult.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.318-325
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• 2019

NREX, an upper limb exoskeleton robot, was developed at the National Rehabilitation Center to assist in the upper limb movements of subjects with weak muscular strength and control ability of the upper limbs, such as those with hemiplegia. For the free movement of the shoulder of the existing NREX, three passive joints were added, which improved its wearability. For the flexion/extension movement and internal/external rotation movement of the shoulder of the robot, the ball lock pin is used to fix or rotate the passive joint. The force and torque between a human and a robot were measured and analyzed in a reaching movement for four targets using a six-axis force/torque sensor for 20 able-bodied subjects. The addition of two passive joints to allow the user to rotate the shoulder can confirm that the average force of the upper limb must be 31.6% less and the torque must be 48.9% less to perform the movement related to the axis of rotation.

• The korean journal of orthodontics
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• v.31 no.1 s.84
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• pp.97-105
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• 2001

In many cases of orthodontic treatment the upper anterior teeth are retracted. Periodontal problems may arise during incisor retraction, if the amount of tooth movement and the amount of remodeling in the anterior cortical bone are not the same. Therefore in this study, to find out the relationship between the amount of tooth movement and the amount of bone remodeling during retraction of the upper anterior teeth, lateral cephalograms of 56 female patients over 18-year-old were taken before and after treatment. Among the 56 patients, two groups were divided according to the type of root movement during retraction. 26 patients mainly moved by tipping and 30 by bodily movement. The cephalograms taken before and after treatment were superimposed upon the true horizontal plane. In the Tip-Group, the horizontal bone remodeling/tooth movement ratio was 1:1.63, and in the Torque-Group it was 1:1.66. Because the amount of tooth movement and the amount of bone remodeling were not the same in both groups, in the Tip-Group the root apex moved away from the palatal cortical plate and closer to the labial cortical plate, whereas in the Torque-Group the root moved away from the labial cortical plate and closet to the palatal cortical plate. Therefore, there are limitations in the amount of incisor retraction in patients with a very thin anterior cortical plate in the maxilla, and in patients with severe skeletal discrepancies orthognathic surgery should be considered and when orthodontic camouflage treatment is the only possible method, the orthodontist must be aware of the limitations of treatment.