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Development of the Exoskeleton Knee Rehabilitation Robot Using the Linear Actuator
김규정,한창수,강민성,최윤성,장혜연,한정수 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.10
This study aimed to develop a robot for effective knee joint rehabilitation. A kinematic approach was used to make exoskeleton robot joints to have the same range of motion (ROM) as that of human knee joints, and a robot exoskeleton was proposed to enable the wearer maintain a proper posture during rehabilitation therapy. This robot is generally used for the rehabilitation therapy for knee lesion patients (e.g., after knee replacement arthroplasty and cruciate ligament reconstruction), where the patients usually lie down wearing this robot. The alignment of the knees and body is a critical factor for the success of the therapy. Considering the rehabilitation therapy posture, the robot was manufactured with a kinematic structure different from that of the existing robots for knee rehabilitation therapy. In this study, the kinematic mechanism of the knee rehabilitation robot was described, and the actuator for the robot was selected by measuring the human knee joint motion and torque. Thus, an exoskeleton robot that is significantly different from the existing knee rehabilitation robots was developed.
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점토대토기문화기 석재사용 분묘 검토- 호서 ․ 호남지역을 중심으로 -
김규정 한국청동기학회 2017 한국청동기학보 Vol.20 No.-
점토대토기문화기에서 석재를 사용한 분묘는 적석목관묘 ․ 위석목관묘 ․ 토광위석묘 ․ 석곽묘 ․ 석관묘 등 다양한 명칭으로 구분되고 있다. 지금까지 조사된 분묘를 검토한 결과 삼국시대 석곽묘와 같은 견 고한 구조의 석곽묘와 목관과 묘광사이를 할석을 이용하여 뒷채움한 유사석곽형, 목관과 묘광 사이에 판석을 석관처럼 가로방향으로 세워 놓은 석관형, 묘광의 장벽이나 단벽을 따라 목관을 고정하기 위해 몇 매의 석재를 듬성듬성 놓은 위석형으로 구분된다. 그러나 축조 당시의 모습이 완벽하게 남아 있지 않기 때문에 잔존상태만으로 이를 구분하는데 한계가 있다. 석재사용 분묘는 공간적으로 경기지역과 호서 ․ 호남지역에 넓게 분포한다. 하지만 경기지역은 대부분 단순한 형태를 보이며, 부장유물도 세형 동검을 제외하면 청동기는 없이 토기만 부장된다. 이에 반해 호서․호남지역은 분묘의 구조가 다양할 뿐만 아니라 유물도 의기류, 무기류, 공구류 등 다양한 청동기가 다량 부장되고 있다. 한반도 점토대토기문화는 중국 동북지역 주민 이주로 형성되었으며, 다양한 구조의 분묘가 확인되는 것으로 보아 이주는 일회성으로 그치지 않았다. 또한 출토 청동기를 통해 볼 때 중국 동북지역에서 볼 수 없는 한반도만의 특징적인 청동기로 발전한 것으로 볼 수 있다. 호서 ․ 호남지역의 경우 석재사용 분묘에서는 검파형동기 ․ 방패형동기 ․ 동령구 ․ 동경 ․ 이형동기 등 의례용 청동기가 출토된 것으로 보아 의례를 관장하는 특수집단의 이주가 상정되며, 의기와 함께 다량의 청동무기를 부장하고 있는 것으로 보아 상당한 위계를 가진 집단이 이주하였던 것으로 볼 수 있다. The tombs during the period of clay-stripe pottery culture have been classified into the categories under various names such as piled-stone tomb with wooden coffin, encircled-stone tomb with wooden coffin, pit tomb with encircled stones, stone-lined tomb, stone coffin tomb, etc. From examination of the tombs investigated so far, it was learned that tombs could be divided into the types of stone-lined tomb with the same strong structure as that of Three Kingdoms Era, quasi-stone-lined tomb in which the rear side between the wooden coffin and tomb pit is filled with cut stones, stone coffin tomb in which plate stones are fixed horizontally between the wooden coffin and tomb pit, and tomb type with encircled stones in which several pieces of stone plates are laid sparsely to fix the wooden coffin along the long or short walls of the pit. As, however, the tombs have not been completely preserved in the original state from the time of construction, it is difficult or limited to deduce the original state of the tombs from what is left. While the tombs using stones are distributed widely in Hoseo and Honam areas, most tombs in Gyeonggi area have a simple form and the accessories buried in them include only earthenware with no bronzeware except for slender daggers. In comparison, the tombs in Hoseo and Honam areas show variety of structures and, besides, various kinds of bronzeware are found to have been buried in large quantity including but not limited to ceremonial appliances, weapons, tools, etc. The clay-stripe pottery culture in the Korean peninsula is believed to have been formed following migration of the residents from the northeast of China and, judging from the graves of various structures which were identified by excavation, migration did not seem to stop only once. Also, the excavated bronzeware testified to the fact that the Korean peninsula developed its own characteristic bronze tools which could not be seen elsewhere in the northeast area of China. Furthermore, from the bronzeware for rituals like bronze split bamboo-shaped artifacts, bronze shield-shaped artifacts, bronze bell for ceremony, bronze mirror, bronze artifacts of heterotype that were unearthed in large quantity, it is assumed that a special group that presided the ritual must have been immigrated and that the group must be in high grade of rank since large number of bronze weapons were buried together with ceremonial appliances.
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김규정 한국문화유산협회 2017 야외고고학 Vol.0 No.29
호남지역 마한성립기 대외교류는 지역에 따라 차이를 보인다. 금강ㆍ만경강유역은 기원전 4세기 고조선계 주민의 이주로 발전된 청동기문화가 유입되고, 기원전 2세기에 준왕의 남하로 본격적인 철기문화가 유입된다. 하지만 기원전 1세기를 전후하여 더 이상 대외교류의 흔적이 확인되지 않고 유적도 급격하게 감소한다. 이에 반해 영산강ㆍ서남해안지역은 기원전 3세기까지의 유적은 간헐적으로 확인되다가 기원전 2세기 이후의 유적은 급증한다. 기원전 1세기에는 중국-한반도-일본열도를 연결하는 해상 교역로를 통한 활발한 대외교류가 이루어지며, 유적의 분포도 해상과 내륙 수로교통이 편리한 지역에 집중된다. 섬진강ㆍ동남해안지역은 조사된 유적이 많지 않아 속단하기에 이르지만 거문도 출토 오수전을 통해 볼 때 해상 교역이 활발하게 이루어졌을 것으로 추정한다. 당시 중국-한반도-일본열도를 연결하는 교역로가 남해 연안과 도서지역에 집중된 것으로 보아 교역로 상에 위치한 섬진강ㆍ동남해안지역에서도 앞으로 많은 유적이 조사될 것으로 보인다. 호남지역 마한성립기 대외교류는 출토유물을 통해 볼 때 크게 3단계로 구분할 수 있다. 1단계는 燕나라 장수 진개(秦開)의 동방경략으로 고조선 유민이 한반도에 대거 유입되는 시기로써 연대는 기원전 4세기~기원전 3세기에 해당된다. 2단계는 위만에게 패한 준왕이 금강ㆍ만경강유역으로 남하하면서 중국 연나라 철기가 본격적으로 유입되며 대규모 군집묘(群集墓)가 축조되고, 부장품도 철기와 유리옥 등 주로 외래계 유물이 부장된다. 연대는 기원전 2세기~기원전 1세기에 해당된다. 3단계는 기원전 108년 고조선 멸망과 한군현(漢郡縣)의 설치로 마한의 정치적 성장이 억제되면서 금강ㆍ만경강유역은 한군현과의 교섭이 어려워진다. 하지만 영산강ㆍ서남해안은 중국-한반도-일본열도를 연결하는 해상 교역로를 통해 활발한 교류가 이루어진다. 연대는 기원전 1세기~기원후 2세기에 해당된다. There is a difference in external exchanges during the emerging period of Mahan in Honam region depending on its districts. The Bronze Age culture having flourished thanks to immigration of the Old Joseon inhabitants in the 4th century B.C. flowed in the area over the basin of Geum and Mangyeong Rivers, together with the Iron Age culture that came in full scale following the southward advance of the King Jun in the 2nd century B.C. At about the 1st century B.C., however, no more marks of external exchanges could be traced up along with the drastic decrease in number of relics. On the contrary, the relics of the age upto the 3rd century B.C. have been confirmed periodically in the area of Yeongsan River and southwestern coastal area, with those of the 2nd century onward increasing particularly swiftly. In the 1st century B.C., exchanges with foreign countries were actively performed via the maritime trade routes connecting China-Korean Peninsular-Japan and relics have been excavated extensively centering around the area where maritime and inland waterways were connected conveniently. Although it may be too hasty to conclude since there are few relics having been investigated in the area of Seomjin River and southeastern coastal area, the maritime trade seemed to have been made actively in the area judging from the ancient Chinese coins unearthed on Geomun Island. Since the trade routes connecting China-Korean Peninsular-Japanese Chains of Islands were centralized around the coast and isles in the southern sea, lots of relics are expected to be unearthed in the future from the areas of Seomjin River and southeastern coast which were situated along the then trade routes. The external exchanges performed during the emerging period of Mahan in Honam region could be divided roughly into 3 stages in terms of the relics excavated. The 1st stage would stand for the period ranging from the 4th to the 3rd century B.C. when the migrants of Old Joseon made influx into the Korean Peninsula in large numbers following the eastward invasion ventured by Gen. Qin Kai (秦開) of Yan Dynasty (燕) in China. The 2nd stage would correspond to the period from the 2nd to the 1st century B.C. when the King Jun, after the defeat by Wiman, moved southward to the basin of Geum and Mangyeong Rivers, the ironware of Yan Dynasty came in full scale, clusters of large-sized tombs were constructed and relics including ironware and glass beads made mainly in the foreign countries were buried as accessories. In the 3rd stage, it became difficult to make negotiations with Hangunhyun administrative areas since Mahan wasn't able to grow politically in the basin of Geum and Mangyeong Rivers following the fall of Old Joseon and subsequent establishment of Hangunhyun administration (漢郡縣). However, the basin of Yeongsan River and the southwestern coastal area succeeded in making active external exchanges through the maritime trade routes connecting China-Korean Peninsular-Japanese Chains of Islands during the period ranging from the 1st century B.C. to the 2nd century A.D.
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