• 대한전기학회논문지:시스템및제어부문D
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• 제49권5호
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• Journal of Obesity & Metabolic Syndrome
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• 제27권4호
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• pp.203-212
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• 2018

Dynamic energy balance can give clinicians important answers for why obesity is so resistant to control. When food intake is reduced for weight control, all components of energy expenditure change, including metabolic rate at rest (resting energy expenditure [REE]), metabolic rate of exercise, and adaptive thermogenesis. This means that a change in energy intake influences energy expenditure in a dynamic way. Mechanisms associated with reduction of total energy expenditure following weight loss are likely to be related to decreased body mass and enhanced metabolic efficiency. Reducing calorie intake results in a decrease in body weight, initially with a marked reduction in fat free mass and a decrease in REE, and this change is maintained for several years in a reduced state. Metabolic adaptation, which is not explained by changes in body composition, lasts for more than several years. These are powerful physiological adaptations that induce weight regain. To avoid a typically observed weight-loss and regain trajectory, realistic weight loss goals should be established and maintained for more than 1 year. Using a mathematical model can help clinicians formulate advice about diet control. It is important to emphasize steady efforts for several years to maintain reduced weight over efforts to lose weight. Because obesity is difficult to reverse, clinicians must prioritize obesity prevention. Obesity prevention strategies should have high feasibility, broad population reach, and relatively low cost, especially for young children who have the smallest energy gaps to change.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• 동력기계공학회지
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• 제13권2호
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• pp.56-62
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• 2009

The fatalities of pedestrian account for about 40.0% of all fatalities in Korea 2005. Vehicle-Pedestrian accident generates trajectory of pedestrian. In pedestrian involved accident, the most important data to inspect accident is throw distance of pedestrian. The throw distance of pedestrian can be influenced by many variables. But existing studies have been done for simple factors. The variables that influence trajectory of pedestrian can be classified into vehicular factors, pedestrian factors, and road factors. The trajectory of pedestrian, dynamic characteristics of multi-body were analyzed by PC-CRASH, a kinetic analysis program for a traffic accident. PC-CRASH enables an analyst to investigate the effect of many variables. The influence of the offset of impact point was analyzed by Working Model. Based on the results, the variables that influence trajectory of pedestrian were vehicular frontal shape, vehicular impact speed, the offset of impact point, the height of pedestrian, friction coefficients of pedestrian. However the weight of pedestrian did not affect trajectory of pedestrian considerably.

• International Journal of CAD/CAM
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• 제12권1호
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• pp.1-8
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• 2012

This study analyzes the characteristics of two different kinds of squat exercise through physical experiments and a computer simulation, i.e. one with a free weight and the other with a Smith machine are studied. This study also proposes a new design for the Smith machine, which has both the advantages of each type based on the results of the analysis. The muscle force and level of stimulation of the lower extremities during squatting were calculated by running an inverse dynamics analysis program on a musculoskeletal model together with the measured motion data. The calculated results were verified by comparing with the measured EMG data. The analysis showed that squatting using free weight is more effective than squatting using the Smith machine. Meanwhile, in order to design an improved Smith machine, which is the final goal of this study, the trajectory of the barbell of the subjects during free weight squatting was measured on the sagittal plane. The measurement showed that the average slope of the trajectory of the barbell is tilted backward by $10.7^{\circ}$. Based on this measurement, this study proposes a tilted design for an improved Smith machine.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2438-2440
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• 2004

This study is concerned with development of 3-Dimensional simulator of a biped robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a biped robot which have a prismatic balancing weight is conditional linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. To get a stable gait of a biped robot, stabilization equations with ZMP (Zero Moment Point) are modeled as non-homogeneous second order differential equations for each balancing weight type. A trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3-Dimensional graphic simulator is programmed to get and calculate the desired ZMP and the actual ZMP. Walking of 4 steps was simulated and verified. This balancing system will be applied to a biped humanoid robot, which consist Begs and upper body, at future work.

• 한국운동역학회지
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• 제26권4호
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• pp.333-341
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• 2016

Objective: The purpose of this study was to assess the consistency of the gliding and push-off motion for single leg skating from the first to fourteenth steps. We hypothesized that: 1) there would be no difference in stroke trajectory, step rate, and cycle rate between the left and right steps of gliding; and 2) there would be a difference in the resultant velocity of toe push-off and the horizontal velocity of the center of mass after six step push-offs. Method: The study included five male 500-m speed skaters (mean height, $1.80{\pm}0.02m$; mean weight, $76.8{\pm}3.96kg$; record, $35.83{\pm}0.30sec$; 100-m record, <9.97 sec). Data were collected from the first to fourteenth steps (40 m) and recorded using five digital JVC GR-HD1KR video cameras (Victor Co., Japan) operating at a sampling frequency of 60 fields/sec and shutter speed of 1/500 sec. For each film frame, the joint positions were digitized using the KWON3D motion analyzer. Position data were filtered with low-pass Butterworth $4^{th}$ order at the cut-off frequency of 7.4 Hz. Results: The right toe of the skating trajectories at $2^{nd}$, $5^{th}$, and $7^{th}$ strokes differed from those of the left toe. The angles of the right and left knee demonstrated unbalanced patterns from the flexion and extension legs. The step and cycle rates of the right and left leg differed from the start until 20 m. The resultant velocities of the toe at the push-off phase and of the body mass center diverged before the six push-offs. Conclusion: This study's findings indicate that the toe of skating trajectory on left and right sliding after push-off should maintain a symmetrical trajectory. The resultant velocity of toe push-off and horizontal velocity from the center of body need to be separated after about six step push-offs.

• 한국산학기술학회논문지
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• 제11권10호
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• pp.3658-3665
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• 2010

최근 고령화 사회로의 진입 및 장애 인구의 증가로 인해, 인간의 복지를 위한 자동화 시스템에 대한 수요가 늘고 있다. 특히 재활 자동화와 관련한 로봇 시스템은 환자 본인 및 치료 보조자에 대한 수고를 덜어주면서도 기존의 전통적인 재활효과에 상응하는 성과를 얻을 수 있을 것으로 기대되고 있다. 본 연구는 하지 근력이 약화된 사용자들의 신체 자중을 보상해줌과 동시에 정상인과 같은 패턴의 보행 훈련을 수행할 수 있는 모바일형 보행 재활 시스템을 제안하고자 한다. 특히, 자중보상 시스템은 신체의 자세 변화 특징을 반영하여, 기구학적인 분석을 통해 구현하였으며 보행 가이드를 위한 제어 알고리즘과 더불어 메인 컨트롤 시스템이 내장된 모바일 플랫폼에 통합 적용되었다. 이러한 모바일 플랫폼은 사용자의 보행 속도의지를 반영하는 UCS(User Command System)와 플랫폼 자체에 내장된 자율주행 알고리즘의 병합되어 운용되도록 고안되었으며, 본 논문에서는 보행 훈련시의 BWS(Body Weight Support)의 효과에 대한 검증에 집중하고자 한다. 이를 위해 인체의 근전도 신호를 측정할 수 있는 EMG(Electromyography) 센서를 활용하여, BWS 및 모바일로봇을 활용한 자중 보상 시의 피험자의 하지 근력 패턴을 측정 및 분석하여, 정상 보행자와의 차이점을 비교함으로서 본 연구의 타당성을 검증하였다.

• 한국항공우주학회지
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• 제38권7호
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• pp.684-692
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• 2010

본 논문에서는 지구-달 천이를 위한 최적 궤도 설계에 관한 연구를 수행하였다. 지구와 달의 인력을 동시에 고려한 평면상 제한 3체 궤도 운동 모델을 바탕으로 지구 출발시에는 순간 추력을, 지구-달 천이 과정 및 달 임무궤도 투입시에는 연속 추력을 사용하는 혼합형 궤도전이 방법을 제시하였다. 최적화 풀이 방법으로서 Direct Transcription 및 Collocation을 이용한 비선형 프로그래밍 기법을 적용하였으며, 지구 출발 및 달 임무궤도 투입 궤적의 형상은 순간 추력의 연속 추력에 대한 상대 가중치 및 비행시간에 의하여 매우 달라질 수 있음을 파악하였다.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.