• Journal of Music and Human Behavior
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• v.5 no.1
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• pp.1-17
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• 2008

The purpose of this study is to examine how rhythmic auditory stimulation (RAS), one of music therapy techniques for neurological rehabilitation, affects the factors of hemiplegia patients' turning gait and straight gait. This study is designed to compare elimination and intervention of music therapy for 4 weeks with repeated measure plan and measure factors are classified into 21 sub-factors. The subjects of this study were 4 patients who need walking training and they were requested by physical therapist a march and a lied were used to cure them by a researcher. Each session was composed of warming up, RAS gait training, ending. The music used for RAS gait training was provided with speed which was set to patient's own gait speed measured before music therapy. The speed was provided fast gradually and each session was proceeded for 50 minutes. The results of this study showed that walking abilities increase in the segments with music therapy (B) compared to those in the segment without music therapy (A), and this supports the previous report that the application of music therapy together with other treatments has a positive effect on improvement in the patient's walking abilities. In addition, this study is meaningful in that it demonstrated that RAS music therapy is helpful to improve walking abilities not only in straight gait but also in turning gait.

• Korean Journal of Applied Biomechanics
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• v.19 no.1
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• pp.117-126
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• 2009

The purpose of this study was to investigate the effects of 12-week complex training program on foot pressure patterns of the elderly women. The training program consisted of aerobic exercise and muscular training for 12 weeks. Two stages of walking were given to the participants before and after treatment: (a) straight walking; and (b) turn at $45^{\circ}$ while walking. Data related to foot-pressure distribution(FPD) while walking were collected from each stage and analyzed. Results indicated that in both stage of walking, the mean of the foot pressure(FP) was significantly reduced after the participation in the program. Results also revealed that in all stages, the patterns of the FPD and the center of pressure(COP) were widely lower and more stable. Based on the results of this study, it was concluded that participating in a 12-week complex program bas impact on the gait patterns of the elderly women, reducing the foot pressure on their shoes.

• Journal of Korean Society of Transportation
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• v.20 no.1
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• pp.91-99
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• 2002

The purpose of in this paper is to estimate the capacity and to suggest the level of service for pedestrian walkway. To estimate the pedestrian walkway capacity, Pedestrian density and speed were collected at the walkways in the subway station and the sidewalks. The simple linear repression of pedestrian density and speed models were developed for the relationships between the pedestrian flow rate and the pedestrian speed. The analysis results are as follow : First. the ranges of capacity for walkway were found minimum 106p/m/m and maximum 126p/m/m. The capacity of walkway was suggested to 106p/m/m for 2001 KHCM. Second, it found that the range of the critical speeds were between 40m/minute and 43m/minute and the range of the critical densities were between 2.65 p/$m^2$ and 2.85 p/$m^2$. Third, the range of level of service are similar to that of the 2,000 US HCM. This study suggests that occupancy, density and speed at Los E use 0.38$m^2$/p, 2.6 p/$m^2$ and 40m/minute respectively.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.2
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• pp.161-168
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• 2015

In this paper, we present an inertial sensor-based gait distance measurement system using accelerometer, gyroscope, and magnetometer. To minimize offset and gain error of inertial sensors, we performed the calibration using the self-made calibration jig with 9 degrees of freedom. For measuring accurate gait distance, we used gradient descent algorithm to remove gravity error and used analysis of gait pattern to remove drift error. Finally, we measured a gait distance by double-integration of the error-removed acceleration data. To evaluate the performance of our system, we walked 10m in a straight line indoors to observe the improvement of removing error which compared un-calibrated to calibrated data. Also, the gait distance measured by the system was compared to the measurement of the Vicon motion capture system. The evaluation resulted in the improvement of $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ and $69.71{\pm}26.25%$ for x, y and z axis, respectively when walked in a straight line, and a root mean square error of 0.10m, 0.16m, and 0.12m for x, y and z axis, respectively when compared to the Vicon motion capture system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.5
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• pp.896-901
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• 2008

This paper addresses the foot force distribution problem for quadruped robots with a failed leg. The quadruped robot has fault-tolerant straight-line gaits with one leg in locked-joint failure, and has discontinuous motion with respect to the robot body. The proposed method is operated in two folds. When the robot body stands still, we use the feature that there are always three supporting legs, and by incorporating the theory of zero-interaction force, we calculate the foot forces analytically without resort to any optimization technique. When the robot body moves, the conventional pseudo-inverse algorithm is applied to obtain the foot forces for supporting legs. Simulation results show the validity of the proposed scheme.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.11a
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• pp.766-769
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• 2010

시각 정보는 사람이 정보를 획득 하는데 가장 주요한 수단이다. 시각이라는 수단을 상실한 시각장애인을 위하여 흰 지팡이, Navbelt, MELDOG 등의 다양한 연구가 진행되었다. 본 논문에서는 이러한 연구의 일환으로 점자 블록 검출에 대한 연구를 진행한다. 기존 색상 기반 방법의 단점을 보완하기 위하여 스테레오 비전 시스템을 이용하여 장애물이나 벽면을 제거하고, 2차에 걸친 필터링 시스템을 적용하여, 보다 정밀한 후보 영역을 검출하였다. 그리고 윈도우를 이용하여 보행로 판단에 적용함으로 직선의 보행로만 아니라 교차로 형태의 보행로 인식에서도 안정적인 결과를 얻을 수 있었다.

• Journal of Navigation and Port Research
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• v.37 no.3
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• pp.239-244
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• 2013

To increase the safety of onboard evacuation of guests who is unfamiliar with onboard living conditions, this study measured and compared the onboard walking speeds of 81 participants on a passenger ship, I t were found that the walking speeds at corridor on navigation were slower than those at berth by 27.2%, and the speeds of walking on the corner on navigation were slower than those at berth by 23.2%. This means that the ship motion on navigation directly influenced walking speeds. The walking speeds of upward-stairs and downward-stairs were measured to be 0.71m/s and 0.75m/s, respectively. From the crowd counter-flow experiments, because of the narrow space between participants, the walking speeds were decreased as person after person. And it was clear that the group's walking speeds were determined by the walking speeds of leading person(s) of the group. The walking speeds obtained this study were different from those of IMO guideline(MSC/Circ 1033).

• Korean Journal of Fisheries and Aquatic Sciences
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• v.18 no.3
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• pp.235-242
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• 1985

The mechanics of the walking shrimps is useful to clarify the fishing mechanisms in relation to the fishing gears. The gaiting behaviour concerning step positions and step timings on the flat board and the nettings, 16, 23 and 37mm in mesh size were experimented in the aquarium using video camera from June to October, 1984. It was found that the irregular movements of walking legs in step positions and step patterns were appeared on the nettings more than the flat surface due to the absence of mechanical contact with the substrates. The mean stride length and coefficient of variation of the periods in the walking shrimps on the flat board were significantly different from those values on the nettings, However, the velocity, the period and the ratio of forestroke to backstroke were unsteadily changed with the carapace length, and showed little difference under the four conditions. The mean phase difference on the flat board was greater than those values on the nettings which were decreased, while standard deviation on the flat board was smaller than those values on the nettings which were increased with increasing in mesh size.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.20 no.3
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• pp.177-184
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• 1987

The quantitative mechanics on the sideways walking of the crabs may provide a basic solution for entanglements of the walking legs in gillnets. The gaiting behaviour of the crabs on the flat board and the nettings 10, 16 and 23 mm in mesh size were experimented concerning about stepping positions and times in the laboratory using video set on July, 1984, It was found that the irregular movements of walking crabs in stepping positions and patterns were appeared on the nettings due to the absence of mechanical contact in spite of neural control of compensating, while on the flat surface evolved systematic leg movements. The mean stride length and walking velocity, which were increased with the carapace width on the flat board, as well as the step period and forward by backward stroke time were greater than those values on the netting, not associated with the carapace or the mesh size. Also, the step period and the Phase difference on the nettings revealed larger fluctuation than on the flat board. The joint angles of the walking legs, on the nettings in meropodite-carporodite and thorax-meropodite, which joint was varied especially up to below horizon because of the falling legs through the netting twine, were virtually wider than those on the flat substrate.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.3 s.303
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• pp.1-10
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• 2005

This paper proposes a novel fault-tolerant gait planning of a hexapod robot considering kinematic constraints. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. It is shown that the conventional fault-tolerant gait of a hexapod robot for forward walking on even terrain may be fallen into deadlock, depending on the configuration of the failed leg. For coping with such deadlock situation, a novel fault-tolerant gait planning is proposed. It can avoid deadlock by adjusting the position of the foot trajectory, and has the same leg sequence and stride length as those of the conventional fault-tolerant gait. To demonstrate the superiority of the proposed scheme, a case study is presented in which a hexapod robot, having walked over even terrain before a locked joint failure, could avoid deadlock and continue its walking by the proposed fault-tolerant gait planning.