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일반적 3R 링크를 갖는 6각 보행로봇 다리의 보행체적에 대한 해석
한규범,양창일,백윤수,Han, Gyu-Beom,Yang, Chang-Il,Baek, Yun-Su 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.7
In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.
당뇨가 유발된 햄스터 창상치유에 미치는 벼세포 유래 GM-CSF의 효과
한규범,허시현,정진주,한만덕,김완종,신길상,Han, Kyu-Boem,Heo, Si-Hyun,Jeong, Jin-Ju,Han, Man-Deuk,Kim, Wan-Jong,Shin, Kil-Sang 한국현미경학회 2009 Applied microscopy Vol.39 No.3
상처치유는 growth factor와 cytokine들의 복합적인 작용에 의해 일어나는 과정이다. GM-CSF는 호중구와 대식세포를 분화시키고 각질세포를 증식시키는 다면발현성 사이토카인으로 여러 세포에서 재조합되어 사용되고 있다. (주)핸슨바이오텍에서 개발한 rice cell 유래의 재조합 rrhGM-CSF는 다른 세포에서 유래된 GM-CSF들보다 탄수화물 측쇄가 많은 것이 특징이다. rrhGM-CSF의 창상치유효과를 알아보기 위하여 햄스터에 만성 당뇨를 유도하여 상처치유가 어려운 동물모델을 만든 후, 등쪽에 인위적으로 피부 전 층을 제거하여 창상을 유발하였다. 실험군에는 rrhGM-CSF가 포함된 연고를 적용하고, 대조군에는 base cream만을 적용하여 재상피화되는 과정과 피부조직의 구조 및 PCNA 반응을 통한 세포증식 정도를 비교하였다. 육안 및 조직학적 관찰 결과, rrhGM-CSF를 적용한 그룹의 재상피화 속도가 더 빨랐으며, PCNA 면역조직화학적 조사에서도 증식하는 각질세포의 수가 대조군보다 상대적으로 많은 것으로 나타남으로써, rrhGM-CSF에 의한 피부상처 치유 효과를 관찰할 수 있었다. 이러한 결과들로 미루어 보아 벼세포 유래의 rrhGM-CSF는 국소적인 피부 창상 치유에 효과적인 것으로 보이며, rrhGM-CSF의 풍부한 당화 사슬은 이 단백질이 상처부위에 안정된 상태로 기능을 나타냄으로써 효과를 오랫동안 지속시킬 수 있었던 것으로 사료된다. GM-CSF is a multipotent growth factor, which also plays an important role during the process of wound healing. rrhGM-CSF was specifically produced from rice cell culture in our laboratory (Hanson Biotech Co., Ltd, Daejeon). The rrhGMCSF contains more oligosaccharide side chains than any other types of GM-CSF. This work was taken to evaluate the influence on wound healing of rrhGM-CSF in male golden hamsters. Full thickness skin defects of 9 mm in diameter were made in the back of hamsters, and 100 ${\mu}L$ ointment containing rrhGM-CSF 50 ${\mu}g/mL$ was applied. Control groups were given ointment without rrhGM-CSF. The wound sizes were relatively reduced and skin was well regenerated in the experimental group compared with the control group. Structurally, reepithelialization and architecture of the skin following injury were well accomplished in the experimental group. And also, positive reaction of PCNA of the skin following injury was more prominent in rrhGM-CSF containing ointment treatment group. Since this type of GM-CSF has highly glycosylated side chains, the effectiveness might be retain longer and stable, regarding acceleration of wound healing in the animal model. The present study has important implications for further development of the therapeutic manipulation of wound healing using rrhGM-CSF.
앉은 자세에서의 시각을 차단한 균형훈련이 아급성기 뇌졸중 환자의 체간 위치감각에 미치는 영향
한규범 ( Kyu Bum Han ),신원섭 ( Won Seob Shin ) 대한물리의학회 2013 대한물리의학회지 Vol.8 No.3
PURPOSE: The purpose of this study is to investigate effects of trunk position sense through visual cue deprivation balance training in subacute stroke patients. METHODS: The subjects were randomly allocated to two groups: experimental(n=10) and control(n=10). Both groups performed balance training on sitting for 30minute after measurements. Trunk position sense test was assessed using the David back concept to determine trunk repositioning error for four movement(flexion, extension, affected side lateral flexion, non-affected side lateral flexion). Measurements on each test were assessed prior to the balance training and then immediately following the balance training. RESULTS: In comparison of the difference of the trunk position sense between groups, the experimental group decreased significantly in trunk repositioning error of flexion, extension and affected side lateral flexion than control group(p<.05). CONCLUSION: The trunk position sense of the experimental group showed more improvement after the balance training program compared to the control group, Therefore, these results suggest that visual cue deprivation training is considered an effective exercise method for individuals with subacute stroke.