• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.243-252
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• 2008

It has been reported that long-term exercise on a treadmill (running machine) may cause injury to the joints in a human's lower extremities. Previous works related to analysis of human walking motion are, however, mostly based on clinical statistics and experimental methodology. This paper proposes an analytical methodology. Specifically, this work deals with a comparison of normal walking on the ground and walking on a treadmill in regard to the external and internal impulses exerted on the joints of a human's lower extremities. First, a modeling procedure of impulses, impulse geometry, and impulse measure for the human lower extremity model will be briefly introduced and a new impulse measure for analysis of internal impulse is developed. Based on these analytical tools, we analyze the external and internal impulses through a planar 7-linked human lower extremity model. It is shown through simulation that the human walking on a treadmill exhibits greater internal impulses on the knee and ankle joints of the supporting leg when compared to that on the ground. In order to corroborate the effectiveness of the proposed methodology, a force platform was developed to measure the external impulses exerted on the ground for the cases of the normal walking and walking on the treadmill. It is shown that the experimental results correspond well to the simulation results.

• Proceedings of the ESK Conference
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• 1993.04a
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• pp.1-9
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• 1993

A human gait study is required for the biomechanical design of running shoes. A tow-dimensional dynamic model was developed in order to analyze lower extremity kinematics and loadings at the right ankle, knee, and hip joints. The dynamic model consists of three segments, the upper leg, the lower leg, and the foot. Each segment was assumed to be a rigid body with one or two frictionless hinge joints. The lower extremity motion was assumed to be planar in the sagittal plane. A young male subject was involved in the gait test and his anthropometric data were measured for the calculation of segement mass and moment of inertia. The experimental data were obtained from three trials of walking at 1.2m/s. The foot-floor reaction data were measured from a Kistler force plate. The kinematic data were acquired using a three-dimensional motion measurement system (Expert Vision) with six markers, five of which were placed on the right lower extremity segments and the rest one was attached to the force plate. Based on the model and experimental data for the stance phase of the right foot, the calculated vertical forces reached up to 492, 540, and 561 N at the hip, knee, ankle joints, respectively. The flexion-extension moments reached up to 155, 119, and 33 Nm in magnitude at the corresponding joints.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.4
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• pp.667-676
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• 2002

Many studies on the finite element modeling for bolted joints have proceeded, but the structures with bolted joints are complicated in shape and it is difficult to find out the characteristics according to joint condition. Usually, experimental methods have been used for bolted joint analysis. A reliable and practical finite element modeling technique for structure with bolted joints is very important for engineers in industry. In this study, three kinds of model are presented; a detailed model, a practical model and a simple model. The detailed model is modeled by using 3-D solid element and gap element, and the practical model is modeled by using shell element (a portion of bolt head) and beam element (a portion of bolt body), the simple model is modeled by simplifying practical model without using gap elements. Among these models, the simple model has the least degree of freedom and show the effect of memory reduction of 59%, when compared with the detailed model.

• Geomechanics and Engineering
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• v.36 no.1
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• pp.71-81
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• 2024

This study analyzes the pull-out behavior of tunnel-type anchorage under various joint conditions, including joint direction, spacing, and position, using a finite element analysis. The validity of the numerical model was evaluated by comparing the results with a small-scaled model test, and the results of the numerical analysis and the small-scaled model test agree very well. The parametric study evaluated the quantitative effects of each influencing factor, such as joint direction, spacing, and position, on the behavior of tunnel-type anchorage using pull-out resistance-displacement curves. The study found that joint direction had a significant effect on the behavior of tunnel-type anchorage, and the pull-out resistance decreased as the displacement level increased from 0.002L to 0.006L (L: anchorage length). It was confirmed that the reduction in pull-out resistance increased as the number of joints in contact with the anchorage body increased and the spacing between the joints decreased. The pull-out behavior of tunnel-type anchorage was thus shown to be significantly influenced by the position and spacing of the rock joints. In addition, it is found that the number of joints through which the anchorage passes, the wider the area where the plastic point occurs, which leads to a decrease in the resistance of the anchorage.

• Journal of The Korean Society of Integrative Medicine
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• v.10 no.3
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• pp.233-246
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• 2022

Purpose : The study aims to determine the effects of virtual and non-virtual realities in a normal person's mirror walk on gait characteristics. Methods : Twenty male adults (Age: 27.8 ± 5.8 years) participated in the study. Reflection markers were attached to the subjects for motion analysis, and they walked in virtual reality environments with mirrors by wearing goggles that showed them the virtual environments. After walking in virtual environments, the subjects walked in non-virtual environments with mirrors a certain distance away after taking a 5 min break. To prevent the order effect caused by the experiential difference of gait order, the subjects were randomly classified into groups of 10 and the order was differentiated. During each walk, an infrared camera was used to detect motion and the marker positions were saved in real time. Results : Comparison between the virtual and non-virtual reality mirror walks showed that the movable range of the leg joints (ankle, knee, and hip joints), body joints (sacroiliac and atlantoaxial joints), and arm joints (shoulder and wrist joints) significantly differed. Temporal characteristics showed that compared to non-virtual gaits, the virtual gaits were slower and the cycle time and double limb support time of virtual gaits were longer. Furthermore, spacial characteristics showed that compared to non-virtual gaits, virtual gaits had shorter steps and stride lengths and longer stride width and horizontally longer center of movement. Conclusion : The reduction in the joint movement in virtual reality compared to that in non-virtual reality is due to adverse effects on balance and efficiency during walking. Moreover, the spatiotemporal characteristics change based on the gait mechanisms for balance, exhibiting that virtual walks are more demanding than non-virtual walks. However, note that the subject group is a normal group with no abnormalities in gait and balance and it is unclear whether the decrease in performance is due to the environment or fear. Therefore, the effects of the subject group's improvement and fear on the results need to be analyzed in future studies.

• Fashion & Textile Research Journal
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• v.17 no.4
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• pp.635-645
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• 2015

This study analyzed the range of motion of upper body in different configurations of firefighters' protective clothing and equipment. The purpose of this study was to understand the influence of firefighters' protective clothing and equipment over upper body motion in order to improve design of firefighters' protective clothing and equipment. 12 firefighters' upper body range of motion was analyzed while performing standing and walking trials in five different garment configurations including turnout ensemble, fire boots and the self-contained breathing apparatus. Analysis of upper body range of motion included spinal joints of L5S1, L4L3, T1C7, and C1Head. During standing trials, garment configurations caused a significant difference in range of motions at joints of L5S1, L4L3, T1C7, and C1Head. Analysis on the mean of range of motions at L5S1 and L4L3, showed that firefighters' waist bent forward significantly to a greater extent while they wore a self-contained breathing apparatus. A significantly increased range of motion was found for T1C7 and C1Head while carrying a self-contained breathing apparatus, which indicated an increase in the extension of the trunk and neck backward to stand upright and look squarely. A significant difference in range of motion was also found for L5S1 and L4L3 during walking trials.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.84.2-84
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• 2002

$\textbullet$ The dynamic model of a floating human body is derived $\textbullet$ Introduction to impact model for human body $\textbullet$ Analysis of external impulse on the sole $\textbullet$ Analysis of internal impulse at the joints $\textbullet$ It is shown through simulation that the internal impulses for two different configurations

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.401-406
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• 1991

An integrated control design and modeling method of multibody space structures is presented as a tool to control an d describe the large rotational motions of the space structures. The structures representeed with three separated substructures have independent control systems but linked with joints interacting the dynamic motions of the substructures. The effect of the structural flexibility to the control performance was analyzed and the simulation results showed that effectiveness of the designed control logic in controlling the motions of the multi-body space structures.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2759-2764
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• 2003

Humans usually employ more joints than they actually need, and thus they can be categorized as a kinematically redundant system. Therefore, the behavior of the human body can be analyzed by several redundancy resolution algorithms. Different from typical industrial robots that are fixed to the ground, the COG/ZMP condition should be taken into account in the human body motion in order not to fall down. Thus a COG/ZMP stability index is employed as a measure of stability. Kinematic redundancy inherent in the human body can be exploited to satisfy the COG/ZMP condition. Simulation result shows that the COG/ZMP condition can be satisfied by exploiting the null space motion of the kinematically redundant human body model.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.4
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• pp.221-226
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• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.