• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.1
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• pp.294-300
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• 2013

The purpose of this study was to analyse the effects of yoga exercise on balance ability and gait velocity in stroke patients. Subjects were categorized in to a control group and yoga program group with 9 for each group. Yoga program was conducted for 60minute for 8weeks, three times a week. For the purposes, the study measured Stability Index(SI, postural sway) and Weight Distribution Index(WDI) using Tetrax, Functional Reach Test(FRT), Dynamic Gait index(DGI) and 10 meter walking test. At pre- and post-exercise after appling the yoga exercise, the data was analyzed. Yoga exercise group's SI and WDI were decreased, FRT and DGI were increased in comparison with control group. But 10 meter walking test was no significance. It suggests that the yoga exercise could promote recovery from balance disorder after stroke.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.843-848
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• 2007

Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.522-525
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• 2007

Most big difference of existing robot and biped robot stays at the leg. The wheel is very efficient with the portability than the leg. However biped robot can accomplish many role height. But The two thing which we take the center to the leg and walk to the stability is not easy work. Therefore this proposal make efforts that we try to find technical element for the walking of the robot through its design and implementation.

• 한국체육학회지인문사회과학편
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• v.57 no.3
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• pp.345-356
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• 2018

Objective: The purpose of this study was to investigate the local stability of the lower extremity joints and muscle activation patterns of the lower extremity during walking between falling and non-falling group in the elderly women. Method: Forty women, heel strikers, were recruited for this study. Twenty subjects (age:72.55±5.42yrs; height:154.40±4.26cm; mass:57.40±6.21kg; preference walking speed:0.52±0.17m/s; fall frequency=1.70±1.26 times) had a history falls(fall group) within two years and Twenty subjects (71.90±2..90yrs; height:155.28±4.73cm; mass:56.70±5.241kg; preference walking speed: 0.56±0.13m/s) had no history falls(non-fall group). While they were walking on a instrumented treadmill at their preference speed for a long while, kinematic and EMG signals were obtained using 3-D motion capture and wireless EMG electrodes, respectively. Local stability of the ankle and knee joint were calculated using Lyapunov Exponent (LyE) and muscles activation and their co-contraction index were also quantified. Hypotheses were tested using one-way ANOVA and Mann-Whitey. Spearman rank was also used to determine the correlation coefficients between variables. Level of significance was set at p<.05. Results: Local stability in the knee joint adduction-abduction was significantly greater in fall group than non-fall group(p<.05). Activation of anterior tibials that acts on the foot segment dorsal flexion was greater in non-fall group than fall group(p<.05). CI between gastrocnemius and anterior tibials was found to be significantly different between two groups(p<.05). In addition, there was significant correlation between CI of the leg and LyE of the ankle joint flexion-extention in the fall group(p<.05). Conclusion: In conclusion, muscles that act on the knee joint abduction-adduction as well as gastrocnemius and anterior tibials that act on the ankle joint flexion-extention need to be strengthened to prevent from potential fall during walking.

• Journal of the Korea Convergence Society
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• v.11 no.1
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• pp.57-63
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• 2020

The purpose of this study was to investigate the effects of sling exercise convergence with passive vibration on balance and gait in stroke patients. One time 35 minutes three times a week for six weeks. The sling exercise experimental group and the control group were divided into eight members. Balance and gait were measured. There was a significant difference between the eyes open standing and the eyes closed standing in the comparison between the experimental group and the control group. The experimental and control groups showed significant differences in the groups of eyes open standing and eyes closed standing, limits of stability and gait speed before and after intervention. Vibration sling exercise may help to improve the balance and gait of stroke patients. In the future, many patients, various frequencies, and effective exercise periods are needed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.280-286
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• 2019

This study verified the difference in biomechanical variation and the pattern of the lower limb between using or not using functional insoles on the gait of elderly people. Ten females subjects were selected (age: 73.2 years, height: 152.1 cm, body mass: 59.4 kg) for testing their gait with using functional insoles and without using functional insoles. The gait motions were captured with the Qualisys system and the gait parameters were calculated with Visual-3D. As a result, the subjects' stride length and swing time were significantly increased (p<.05). Also, the lower limb's extension moment was significantly increased (p<.05) when using the insole. These differences suggest the functional insole used in the experiment increases the subjects' gait stability. However, to generalize the results of this study, it is necessary to accumulate more quantitative data with more subjects. Further studies to examine gait variables and changes of walking patterns need to be conducted by gathering and utilizing the results of those subjects who have used insoles for a long period of time.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.65-72
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• 2016

In this study, a fully active transfemoral prothesis with a knee joint is designed considering stair walking conditions. Since the torque at the knee joint required for stair walking condition is relative high compared with the one in normal walking condition, the proposed design has high torque generating mechanism. Moreover, the transfemoral prothesis is designed in compact size to reduce its weight, which is related to comfortable fit and fatigue of patients. Flat type BLDC motor is used for simple and compact structure and various components are used to generate required torque with target working angle and speed. The weight reduction of structure is carried out using optimization method after the initial design process is complete. The optimization is conducted under the load conditions of stair walking. The optimized design is validated via finite element analysis and experiments. As a result, the weight is reduced using topology and shape optimization but maintaining the safety of structure. Also the space efficiency is improved due to its compact size.

• Journal of Korean Society of Transportation
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• v.17 no.4
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• pp.33-44
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• 1999

LED(Light Emitting Diodes)는 반도체를 이용한 발광소자로서 동화상 광고물이나 가변정보표지판(VMS)등에 주로 활용되고 있으며 최근 외국의 경우 LED 기술을 교통신호등에 적용하여 시범설치 및 확대 적용 설치하여 운영 중에 있으며 국내에서는 산업체, 학계, 연구소 등에서 연구 개발 중에 있다. 본 연구는 현재 이러한 산 학 연의 노력에 의해 개발된 LED 교통신호등을 현장에 적용하기에 앞서서 실내실험과 현장실험을 통하여 에너지 절감효과 및 현장적용성을 검증하고 경제성 분석을 통한 타당성을 제시하는 데 목적이 있다. 연구 내용으로써 기존 전구식 신호등과 LED 신호등의 발광원리 및 특징 비교 분석, 실내실험을 통한 에너지 절감효과 검증, LED 보행자 신호등 현장적용성 평가, LED 신호등으로 서울시의 기존 신호등을 연차적으로 교체하는 경우에 대한 경제적 분석이 실시되었다. 실내실험을 통해 LED 신호등의 에너지 절감효과가 평균 76% 임을 검증하였고 보행자 신호등에 대한 현장 실험에서 설문응답자의 83.7%가 LED 신호등의 시인성이 우월하다고 나타나 현장적용성은 긍정적인 것으로 나타났다. LED 신호등에 대한 경제성 분석결과 자본회수기간은 6년으로 나타났으며 향후 기존 신호등의 고장 및 유지 보수 등에 의한 차량정체 비용, 교통사고 비용 및 소자기술 발전을 고려하면 이보다 단축될 것으로 판단된다. 향후 차량등에 대한 운전자들의 반응 및 장기적인 안정성 등에 대한 종합적인 실험이 추가적으로 이뤄져야 할 것이며 이를 바탕으로 하여 LED 신호등에 대한 규격서 제정 등 법 제도 측면이 이루어진 후 LED 국내 기술 수준 등을 총체적으로 고려하여 LED 교통신호등에 대한 보급방안이 강구되어야 할 것이다.