• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.27 no.2
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• pp.55-67
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• 2021

Background: This study aimed to use the muscle energy technique (MET) with total knee replacement (TKR) during the chronic phase in a clinical setting and confirm its effects on the knee extensor strength and ROM, balance, and walking ability. Methods: A total of 20 female patients who underwent TKR 1~4 years ago were assigned to two groups (Control: Q setting exercise+general physical therapy, n=10; Exp: MET+general physical therapy, n=10). Interventions were performed three times a week for 4 weeks. The strength of the knee extensor was evaluated using an aneroid sphygmomanometer, and ROM was evaluated using degrees at the end range on active knee flexion. The main balance outcomes were evaluated using two standard scale (TSS) and timed up and go (TUG) test, whereas the walking ability was evaluated using the 10 meter walk test (10MWT). Results: Analysis showed that both groups had significant increases in strength, ROM, TSS, TUG, and 10MWT. Differences in all variables were significant between the control and Exp groups at the post-intervention evaluation (p<.05). However, no significant difference was observed in strength and TUG. Conclusion: Results of this study demonstrated that MET would help improve the strength, ROM, balance, and walking ability of patients with chronic TKR who want to enhance their abilities and performance in activities of daily living.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1137-1142
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• 2004

Walking training is one of the most important rehabilitation processes with paralysis patient. Walking training by using an orthosis can help advancing a patient's independent level. However, existing orthoses have some serious demerit of mechanical problem that the knee joint is locked in the state where it is completely extended, which increases energy consumption and fatigue. For this reason, it is suggested, for more practical orthosis, that the knee joint should be placed and it should have capability of suspending patient's weight. In this paper, 1-DOF walking orthosis which compensates the demerit of the existing orthosis and secures patient's mobility has been proposed. New orthosis has been designed under the following two premises. First, the knee joint of the orthosis was designed fold in order for the orthosis to move in a walking pattern similar to that of a normal person. Second, the knee joint was designed to extend during the swing phase and lock safely during the stance phase.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.78-81
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• 1997

In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

• 한국전산유체공학회:학술대회논문집
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• 1999.05a
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• pp.199-204
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• 1999

Three dimensional numerical analysis for the turbulent reactive flow and radiative heat transfer in the walking beam type of a reheat furnace in POSCO has been carried out by the industrial code FLUENT. Computations an based on the conservation equations of mass, momentum, energy and species with the $k-{\varepsilon}$ turbulence model and mixture fraction/PDF(Probability Density Function) approach for the combustion rate. Radiative heat transfer is computed by the discrete ordinates radiation model in combination with the weighted-sum-of-gray-gas model for the absorption coefficient of gas medium. The predicted temperture distribution in the reheat furnace and energy flow fractions are in reasonable agreement with the measurement data.

• The Korean Journal of Physiology
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• v.4 no.1
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• pp.1-11
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• 1970

Studies on the analysis of walking were performed on 33 male subjects. A prescription of physical exercise (walking at a speed of greater than 6 km/hr for more than one hour daily) for the promotion of individual health is presented on the basis of walking analysis. Presumptions were made that adequate physical exercise does promote health and is beneficial for the healthy life and increases the life span. These presumptions were derived from the numerous experimental literatures. The literatures support indirectly the presumptions. The following results were obtained and prescription of physical exercise is presented. 1. Oxygen uptake in a walking on a treadmill at a speed of 4 km/hr was only 3 times of the resting oxygen uptake. This kind of moderate exercise did not stimulate the cardiopulmonary system adequately. Heart rate at a 4 km/hr walking was 101 beats/min in boys of less than 20 years old and 83 beats/min in adults. Oxygen uptake at a 6 km/hr walking exceeded 4 times of the resting oxygen uptake. It was interpreted that walking at 6 km/hr stimulated the cardiopulmonary system for the promotion of health. Heart rate at this speed was greater than 110 beats/min in boys and greater than 100 beats/min in adults. 2. Heart rates in a walking of 10 km/hr were 172 beats/min in boys, and 143 beats/min in adults, respectively. Maximal heart rates were 185 beats/min in boys, 180 in office clerks, and 168 beats/min in construction site laboreres. 3. The correlation between heart rate and oxygen uptake was high, namely, r>0.95. Subsequently heart rate could be used as a measure of degree of intensity of physical exercise instead of the cumbersome oxygen uptake measurement. 4. The prescription of physical exercise for the promotion of health is: Daily walking for more than one hour at a speed of greater than 6 km/hr. Bodily functions in this daily walking are in boys (body weight, 50 kg): heart rates of 110 beats/min; breathing frequency, 28/min; oxygen uptake, greater than 4 times of the resting uptake; pulmonary ventilation, 351/min; stride, 124 strides/min; cumulative number of strides for one hour, 7,440 strides, and energy expenditure of more than 300 kcal. In adults (body weight, 60 kg) the bodily functions are: heart rates of 100 beats/min, breathing frequency, 28/min; oxygen uptake, greater than 4 times of the resting uptake; Pulmonary ventilation, 301/min; stride, 127 strides/min; cumulative number of strides for one hour, 7,670 strides, and energy expenditure of more than 300 kcal.

• 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).

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.448-453
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• 2012

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid wheeled and legged mobile robot is designed and a obstacle avoidance algorithm is proposed based on low power walking using LRF(Laser Range Finder). In order to stabilize the robot's motion and reduce energy consumption, we implement a low-power walking algorithm through comparison of the current value of each motors and correction of posture balance. A low-power obstacle avoidance algorithm is proposed by using LRF sensor. We improve walking stability by distributing power consumption and reduce energy consumption by selecting a shortest navigation path of the robot. The proposed methods are verified through walking and navigation experiments with the developed hybrid robot.

• Korean Journal of Applied Biomechanics
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• v.19 no.1
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• pp.179-186
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• 2009

This works studied to compare gas analyzer with accelerometer and the estimation of energy expenditure based on different attaching position of tri-axial accelerometer such as waist and top of the foot Based on the fact that oxygen intake increases more radically linearly during walking more than 8.0km/hr. 9 male subjects performed walking and running on the treadmill with speed of $1.5{\sim}8.5km$/hr and $4.5{\sim}13.0km$/hr, respectively. Commercially available Nike + iPod Sports kit was used to compare energy expenditure with sensor module attached to their foot. Actual energy expenditure was determined by a continuous direct gas analyzer and two multiple regression equations of walking and running mode for different attaching position were developed. Results showed that estimation accuracy of energy expenditure using waist mounted accelerometer was higher than that of the top of the foot and Nike + iPod Sports kit. Results of energy expenditure based on waist and top of the foot showed that the crossover state of energy expenditure occurred at 7.5km/hr. But Nike + iPod Sports kit could not find intersection of energy expenditure in all nine subjects. Therefore the sensor module attached to the waist and separate multi regression equation by walking and running mode was the best to estimate more accurate prediction.