원위 경비 인대 결합 손상은 외측 족관절 염좌보다 복귀하기 위해 두 배 이상의 시간이 들 정도로 치료가 어려우며, 종종 간과되며 놓치기 쉬운 손상이다. 늦은 진단으로 인한 만성 손상은 완치가 힘들 뿐더러 돌이킬 수 없는 결과를 나타내기 때문에, 원위 경비 인대 결합손상에 대한 치료의 핵심은 정확한 조기 진단과 초기치료를 통해 적절한 안정성을 획득하여 부작용이나 만성으로 변화 과정을 최소화는 것이다. 모든 급성 불안정 원위 경비 인대 결합 손상(2, 3단계)은 수술적 처치를 요하며 급성 손상에서의 적절한 치료는 만성 손상에 의한 부작용을 피할 수 있는 최고의 방법이다.

경추관절의 부정렬로 인한 두부전방자세를 가진 대상자에게 관절가동술을 적용 후 경추관절의 자세변화와 기능에 영향을 미치는지 알아보고자 한다. 대상자들은 경상북도 G대학 학생 39명 중 경부관절가동술그룹 20명, 가동술을 적용하지 않은 그룹 19명을 나누어서 실시하였으며, 대상자들은 방사선 사진 촬영을 한 후 그 중 경추전만각(cervical lordosis angle)이 21°이하이고, 머리의 전방무게부하(anterior weight bearing, AWB)가 15㎜이상이며, 경추 신전 관절가동범위(extension ROM)가 70°이하인 대학생을 선별하여 자발적 동의를 구하였다, Mulligan 기법(1995) 중 SNAGS로 경추 신전과 굴곡 운동을 주당 3회, 4주간 통증이 있는 관절을 치료사가 지속적인 종속활주운동(sustained accessory glide)을 적용하는 동안 환자가 능동적으로 관절운동을 각 회마다 천천히 8회 정도 적용하였다. 측정 방법은 방사선 검사와 경부장애지수를 통해 실시하였다. 실험 결과 두부전방자세 대상자에게 경부관절가동술 적용 후 경부관절가동술군에서 경부의 AWB와 ARA, 굴곡신전범위 변화, NDI에 대한 변화가 있음을 알 수 있었다. 대조군에서는 거의 변화가 없었다. 결론적으로 관절가동술 적용이 경부관절의 자세개선을 향상시키는데 영향을 미친 것으로 나타났고, 또한 두경부의 기능개선에서도 도움이 된 것으로 나타났다.

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and linkside dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the jointtorque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

This study investigates the effect of supercritical fluid extract (CMPB803-C) of Lithospermum erythrorhizon,shikonin and acetylshikonin isolated from Lithospermum erythrorhizon on IL-1β-induced chondrocytes and monosodiumiodoacetate (MIA)-induced osteoarthritis in rat. Shikonin (50μM) and acetylshikonin (3μM) treatment reduced signifi-cantly the mRNA expression and enzyme activity of matrix metalloproteinase (MMP)-1, −3 and −13 in IL-1β-inducedSW1353 chondrosarcoma cells. The chondro-protective effects of CMPB803-C and acetylshikonin were than analyzed in arat OA model using a single intra-articular injection of MIA (1㎎) in the right knee joint. CMPB803-C (200㎎/㎏) or ace-tylshikonin (5㎎/㎏) was orally administered daily for two weeks starting after 1 week of MIA injection. In the histologicalobservation, CMPB803-C and acetylshikonin clearly improved OA lesions being comparable to or better that control group.Our results demonstrated that CMPB803-C and acetylshikonin as active compound of Lithospermum erythrorhizon have astrong chondro-protective effect in OA rats, which likely attributes to its anti-inflammatory activity and inhibition ofMMPs production.

이 연구는 동결견 진단을 받은 환자에 대한 한국전통 정골요법(이하 KTO)을 적용하여 통증완화에 대한 유의성 연구가 진행하였던 환자를 대상으로 통증의 감소가 견관절의 가동범위도 증가하는지를 추가적으로 확인하기 위하여 진행하였다. 대상자는 총 14명으로 구성되어 있으며, 두 개 그룹으로 나누어 7명의 실험군과 7명의 대조군으로 하여 2그룹으로 나누어 연구를 진행하였다. 7명은 KTO를 총 10회 시술하고, 7명은 시술하지 않았다. 견관절의 가동범위의경우 항목별로 살펴보면 KTO를 적용한 그룹은 가동치의 변화를 살펴보았을 때 굴곡(7.33) 신전(10.00) 외전(8.76)내전(9.05) 외회전(8.10) 내회전(10.00)의 변화가 나타났다. KTO를 적용하지 않은 그룹의 가동치의 변화를 살펴보았을 때 굴곡(4.67), 신전(7.50), 외전(7.14), 내전(9.14), 외회전(6.59), 내회전(9.31)의 변화가 나타났다. 동결견 환자에게 한국전통정골요법을 적용하면 견관절의 가동범위 증가를 가져올 수 있음을 확인하였다.

결관절 초음파 검사를 이용하여 회전근개 질환에 의한 통증의 원인을 확인하고, 초음파 소견의 분류에 따른 통증의 상관관계와 초음파검사에서 관찰되는 소견의 결과를 예측하여 보고, 견관절 통증에 따른 스트레스와의 상관성을 확인하고자 하였다. 2012년 1월부터 10월까지 서울 S병원에서 견관절 동통 및 운동 장애를 주소로 하여 회전근개 파열과유착성관절낭염과 견관절 충돌증후군으로 임상적 진단이 되는 환자 184명을 대상으로 설문조사를 실시하였다. 연구대상자 중 어깨를 많이 사용하는 직업군과 50~60세 여성에서 144명(78.3%)으로 가장 많은 회전근개 질환이 유발되었으며, 회전근개 질환과 통증과의 상관관계와 초음파 진단 소견과 통증과의 상관관계는 서로 유의한 상관관계가 있음을 확인하였다(p<.05). 또한 회전근개 질환으로 인한 통증과 스트레스와의 상관성을 BEPSI-K로 조사한 결과 견관절통증과 일상생활에서 받는 스트레스에는 서로 유의성이 있음을 확인하였다(p<.05).

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator’s rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP’s position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

본 연구는 오른쪽 어깨관절에 칼텐본-에비엔즈컨셉 미끄러뜨림 등급Ⅱ와 Ⅲ으로 아래쪽미끄러뜨림적용시 위팔뼈머리의 이동거리 및 벌림각도(abduction angle)의 변화를 알아보고자 하였다. 미끄러뜨림 등급Ⅱ(Grade Ⅱ) 적용시 위팔뼈머리는 초기보다 아래쪽으로 5㎜ 가량 이동하였고 등급Ⅲ 적용시 8㎜ 가량 이동하였다. 이동거리에 대한 성별 비교에서는 남자가 여자에 비해 등급별로 이동거리가 높게 나타났으나 통계적으로 유의한 차이는 나타나지 않았다. 등급Ⅱ(Grade Ⅱ) 적용시 벌림각도는 초기보다 10°가량, 등급Ⅲ(Grade Ⅲ) 적용시 12°가량 증가하였다. 벌림각도에 대한성별 비교에서는 모든 등급별로 여자가 남자보다 벌림각도가 크게 나타났으나 통계적으로 유의한 차이는 나타나지 않았다.본 연구를 통해 미끄러뜨림 등급 적용시 위팔뼈머리의 운동형상학적 변화를 알아보았으며 향후 추가 연구를 통해이들 변화가 주변 구조물에 미치는 영향에 대해 알아본다면 보다 과학적인 근거중심의 치료를 기대할 수 있을 것으로사료된다.

A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called "MEC Joint", which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

In this study, an anthropomorphic robot Hand, called “SKKU Hand III” is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

Ankle-foot orthosis with a pneumatic rubber actuator, which is intended for the assistance and the enhancement of ankle muscular activities was developed. In this study, the effectiveness of the system was investigated during plantarflexion motion of ankle joint. To find a effectiveness of the system, the subjects performed maximal voluntary isokinetic plantarflexion contraction on a Biodex-dynamometer. Plantarfexion torque of the ankle joint is assisted by subject’s soleus muscle that is generated when ankle joint do plantarflexion motion. We used the muscular stiffness signal of a soleus muscle for feedback control of ankle-foot orthosis as physiological signal. For measurement of this signal, we made the muscular stiffness force sensor. We compared a muscular stiffness force of a soleus muscle between with feedback control and without it and a maximal plantarflexion torque between not wearing a ankle-foot orthosis, without feedback control wearing it and with feedback control wearing it in each ten elderly adults. The experimental result showed that a muscular stiffness force of a soleus muscle with feedback control was reduced and plantarflexion torque of an ankle joint only wearing ankle-foot orthosis was reduced but a plantarflexion torque with feedback control was increased.The amount of a increasing with feedback control is more higher than the amount of a decreasing only wearing it. Therefore, we confirmed the effectiveness of the developed ankle-foot orthosis with feedback control.

Achyrantes japonica (AJ) has been used to treat edema and arthritis in the traditional Korean medicine. Toelucidate the anti-inflammatory and anti-nociceptive effects of ethanol extract of AJ, the carrageenan-induced pawedema using a plethysmometer and thermal hypersensitivity using the plantar test were measured. Ibuprofen was used asa control drug. Treatment with AJ (200㎎/kg p.o.) significantly reduced paw edema, compared to the carrageenan -treated rats. In the plantar test, the thermal withdrawal latency in AJ - treated group was significantly increased than thecarrageenan - treated group. The results indicate that AJ could have be the anti-inflammatory and anti-nociceptive prop-erties.

Various driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot’s pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn’t contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

류마티스성 관절염의 동물 모델인 CIA(collagen induced arthritisd) 생쥐에 CRN을 복강 투여하여 CIA의 발병률 및 관절염지수 등에 대한 효과를 조사한 결과는 다음과 같다. RF(rhumatoid factor) 인자인 IgG와 IgM 생산량, 그리고 염증 사이토카인인 IL-6와 TNF-α의 생산량이 감소하였다. 사이토카인 분석결과, 비장세포에서 Th1과 Th2 세포에서 분비되는 IFN-γ와 IL-4를 측정하여 CRN 투여로 Th1 세포에서 Th2 세포로 면역반응이 전환됨을 시사하는 것은 CRN의 치료효과로 사료된다. 혈청 중에서 RA 인자인 IgG와 IgM, 염증 사이토카인인 TNF-α와 IL-6 및 type II bovine collagen antibody 생산량 이 대조군에 비하여 CRN 투여군이 감소하여 CRN이 관절염의염증 사이토카인을 억제하는 것으로 확인된다.

본 연구에서는 택칠에서 분리된 CRN(corilagin)이 류마티스성 관절염 치료제로 사용될 수 있는가능성을 조사하기 위하여 류마티스성 관절염의 동물 모델인 CIA(collagen induced arthritis) 생쥐에 CRN을 복강 투여하여 CIA의 발병률 및 관절염 지수 등에 대한 효과를 관찰하여 다음과 같은 결과를 얻었다. 택칠에서 분리한 corilagin을 관절염 유발 생쥐에게 투여한 결과, 관절염의 발병진행이 억제되고 관절염 지수가 감소되는 것을 확인하였다. 세포 조직학적 관찰을 통하여 염증성 세포들이 현저하게 줄어들고, 관절강이 잘 확보되었으며, pannus의 형성이 보이지않고 연골 또한 잘 보호되어져 있음을 확인하였다. 관절염 유발 생쥐의 형광유세포 분석결과 각 조직에 침윤되는 염증세포가 감소하였다.

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulator's human's superior motor skills in contact tacks.This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG)signals and limb position measurements. The EMG signal is the summation of MUAPs(motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN)model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.