• 로봇학회논문지
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• 제15권2호
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• 혜화의학회지
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• 제13권1호
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• pp.303-309
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• 2004

After treating a patient suffering from metacarpophalangeal joint extension disturbance which is caused by posterior interosseous nerve palsy, some results are gained as follows. The symptom of posterior interosseous nerve palsy is simillar to the it of radial nerve palsy. But posterior interosseous nerve palsy isn't accompany with wrist drop. posterior interosseous nerve palsy is accompany with metacarpophalangeal joint extension disturbance. This symptom is caused by posterior interosseous nerve palsy. Posterior interosseous nerve palsy is correspond to MAMOKBULIN(麻木不仁), SUTONG(手痛), SUGI(手氣) in oriental medicine. The cause of this case on oriental medicine is Deficiency of qi and blood. Treatment which based on cause of oriental medicine-herb medication, acupuncture treatment- have a good effect to patient.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.605-610
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• 1994

Optimal design of fault-tolerant, spatial type maniplators is treated in this paper. Design objective is to guarantte three degree-of-freedom translational motions in the task space, upon failure of one arbitrary joint of 4 degree-of -freedom manipulators. Realizing the nonfault-tolerant characteristics of current, wrist-type industrial manipulators, several 4 degree-of-freedom redundant structures with one joint redundancy are suggested as the fault-tolerant spatial -type manipulators. Fault-tolerant charactersitics are investigated basedon the analysis of the self-motion and the null-space elements, of a redundant manipulator. Finally, in order to maximize the fault-tolerant capability,optimal design is performed for a spatial-type manipulator with respect to the global isotropic index, and the performance enhancement of the optimized case is shown by simulation.

• Earthquakes and Structures
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• 제23권6호
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• pp.535-547
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• 2022

Handball sport, as its name postulates, is a team sport which highly physical workout. During a handball play, several ball impacts are applied on the hands resulting vibration in the forearm, upper arm, shoulders and in general in whole body. Hand has important role in the handball's game. So, understanding about the dynamics and some issues that improve the stability of the hand is important in the sport engineering field. Ulna and radius are two parallel bones in lower arm of human hand which their ends are located in elbow and wrist joint. The type of the joint provides the capability of rotation of the lower arm. These two bones with their ends conditions in the joints constructs a 4-link frame. The ulna is slightly thinner than radius. So, understanding about hand kinematics in handball's game is an important thing in the engineering field. So, in the current work with the aid of a multi-physics simulation, dynamic stability analysis of the ulna and radius bones will be presented in detail.

• 한국정밀공학회지
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• 제13권4호
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• pp.97-108
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• 1996

Optimal design of fault-tolerant, spatial type redundant manipulators is treated in this paper. Design objective is to guarantte three degree-of -freedom translational motions in the task space, upon failure of one arbitrary joint of 4 degree-of-freedom manipulators. Noticing the nonfault-tolerant characteristics of current, wrist-type industrial manipulators, five different fault-tolerant spatial-type manipulators which have 4 degree-of-freedom structures with one joint redundancy are suggested. Faault-tolerant character-sitics of two redundant manipulators anr investigated based on the analysis of the self-motion and the null-space elements. Finally, in order to maximize the fault-tolerant capability, optimal design is performed for a spatial-type manipulator with respect to the global isotropic index, and the performance enhancement of the optimized case is shown by simulation.

• The Journal of Korean Physical Therapy
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• 제20권3호
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• pp.45-51
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• 2008

Purpose: We evaluated the physical stress and pain to the musculoskeletal system of a dental practitioner when engaging in a dental scaling training exercise to prevent the development of musculoskeletal injuries. Methods: The 18 female (average age: 21$\pm$1 years) subjects were voluntarily picked from a group of juniors who have completed a one-and-a-half year training course that includes training exercises on the dentiform and on live subjects (other trainees). The test is done by measuring pain, activity, grip strength, and finger dexterity for each subject's hand and wrist. Before the test all subjects were confirmed to be right-handed and were informed of the study and its objective. Measuring was done before and after each subject performed dental scaling for one hour using the scaler and the curet. Results: Pain levels increased for both hand and shoulders, but hand pain was often greater than shoulder pain. Grip strength significantly declined in the right hand but not the left. For joint mobility, the flexion and the extension for the shoulder joint did not change; but the range of motion for both wrist joints significantly increased. For the dexterity test, both hands showed increased dexterity after the exercise. Conclusion: Dental scaling can affect the shoulders and wrists/hands. Therefore, a musculoskeletal injury prevention program for dental practitioners, which may include encouraging them to assume correct body posture when at work, must be sought. This study evaluated only the shoulders, wrists, and hands; but future studies should include areas such as the cervical area, the back, and the lower limbs.

• 한국정밀공학회지
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• 제30권5호
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• pp.559-563
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• 2013

This study aims to quantify the effects of medication (Med) and deep brain stimulation (DBS) on resting rigidity in patients with Parkinson's disease. We tested 10 limbs of five patients under each of four treatment conditions: 1) baseline, 2) DBS, 3) Med, 4) DBS + Med. Rigidity at the wrist joint was assessed using the Unified Parkinson's Disease Rating Scale (UPDRS). The examiner randomly imposed flexion and extension movement on patient's wrist joint. Resistance to passive movement was quantified by viscoelastic properties. Not only rigidity score but also damping constant showed improvements in rigidity by DBS and Med treatments (p<0.05). This indicates that the viscosity can represent the change in rigidity due to DBS as well as Med, which was manifested by UPDRS score.

• 대한물리의학회지
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• 제3권2호
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• pp.103-112
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• 2008

Purpose : The Purpose of this study was to investigate the effects of taping and AMCT(activator methods chiropractic technique) on the pain and grip strength in patients with lateral epicondylitis. Methods : To study divided of three groups. Taping groups were apply to taping was attached from wrist joint to elbow joint lateral epicondly after maximun flexion. AMCT application was contact the posterior aspect of the proximal head of the radius. The line of drive is anterior and inferior. Next, contact the anterior aspect of the lunate by positioning the instrument on the volar aspect of the wrist. The line of drive is straight posterior. combination groups was treated using the taping and AMCT application. Result : 1. The pain was decreased on taping groups, AMCT groups and combination groups of all(p<.05). 2. Power grip was enhanced in taping groups, AMCT and combination groups(p<.05). but taping, AMCT, combination groups was no difference compared with after 1 week therapy(p>.05). 3. Compared with AMCT and taping therapy about pain decreased was AMCT groups better than taping groups(p<.05). 4. Compared with AMCT and taping therapy about power grip was AMCT groups better than taping groups(p<.05). 5. AMCT and combination groups was no difference compared with pain release and power grip after therapy(p>.05). Conclusion : AMCT groups therapy are more effect able than taping therapy for grip strength and pain reduction. Hence, AMCT groups therapy is most effect able for pain reduction with lateral epicondylitis patients.

• 한국운동역학회지
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• 제17권4호
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• pp.169-179
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• 2007

The purpose of this study was to investigate the relations between the segments of the body and to qualitatively analyze coordination pattern of joints and segments during Sweep Shot movement in Ice Hockey, by utilizing coordination variables was angle vs. angle plots. By the utilization the three dimensional anatomical angle cinematography, the angles of individual joint and segment according to sweep shot in ice hockey. The subjects of this study were five professional ice hockey players. The reflective makers were attached on anatomical boundary line of body. For the movement analysis three dimensional cinematographical method(APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 6.1 graphical programming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and ice hockey stick were defined. The three dimensional anatomical angular displacement and coordination pattern of trunk and Upper limb(shoulder-elbow, elbow-wrist linked system) showed important role of sweep shot in ice hockey. As the result of this paper, for the successful movement of sweep shot in ice hockey, it is most important role of coordination pattern of trunk-shoulder, shoulder-elbow and elbow-wrist. specially turnk movememt as a proximal segment. Coordination pattern of Upper Limb(upperarm-forearm-hand) of Sweep Shot movement in Ice Hockey that utilizes coordination variables seems to be one of useful research direction to understand basic control mechanisms of Ice hockey sweep shooting linked system skill. this study result showed flexion-extension, adduction-abduction and internal-external rotation of trunk are important role of power and shooting direction coordination pattern of upper Limb of Sweep Shot movement in Ice Hockey.

• Journal of Korean Neurosurgical Society
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• 제62권6호
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• pp.661-670
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• 2019

Objective : Rheumatoid arthritis (RA) is known to involve the cervical spine up to 86%. It often causes cervical instability like atlantoaxial subluxation (AAS), subaxial subluxation, and vertical subluxation (VS). In order to find the relation between RA and cord compression, we will evaluate the characteristics and risk factors of basilar invagination (BI) and cervicomedullary junction (CMJ) compression. Methods : From January 2007 to May 2015, 12667 patients administrated to Hanyang University Medical Center. Four thousand three hundred eighty-six patients took cervical X-ray and 250 patients took cervical computed tomography or magnetic resonance imaging. Radiologic parameters, medication records were obtained from 242 patients. Multivariate logistic regression analysis was performed with correlation of CMJ compression, basin-dental interval (BDI), basin-posterior axial line interval (BAI), pannus formation, BI, and AAS. Results : In the point of CMJ compression, atlantodental interval (ADI), posterior-atlantodental interval, BAI, AAS, and BI are relatively highly correlated. Patients with BI have 82 times strong possibility of radiologic confirmed CMJ compression, while AAS has 6-fold and pannus formation has the 3-fold possibility. Compared to the low incidence of BI, AAS and pannus formation have more proportion in CMJ compression. Furthermore, wrist joint erosion was correlated with VS and AAS. Conclusion : BI has a very strong possibility of CMJ compression, while AAS and pannus formation have a high proportion in CMJ compression. Hence bilateral wrist joint erosion can be used as an indicator for the timing of screening test for cervical involvement. We suggest the early recommendation of cervical spine examination for the diagnosis of cervical involvement in order to prevent morbidity and mortality.