• 대한지역사회영양학회지
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• 제21권6호
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• pp.520-532
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• 2016

Objectives: The objective of this study was to assess energy expenditure and metabolic cost (METs) of walking activities of college students and to compare treadmill based walking with self-selected hallway walking. Methods: Thirty subjects (mean age $23.4{\pm}1.6years$) completed eight walking activities. Five treadmill walking activities (TW2.4, TW3.2, TW4.0, TW4.8, TW5.6) were followed by three self-selected hallway walking activities, namely, walk as if you were walking and talking with a friend: HWL (leisurely), walk as if you were hurrying across the street at a cross-walk: HWB (brisk) and walk as fast as you can but do not run: HWF (fast) were performed by each subject. Energy expenditure was measured using a portable metabolic system and accelerometers. Results: Except for HWF (fast) activity, energy expenditures of all other walking activities measured were higher in male than in female subjects. The lowest energy expenditure and METs were observed in TW2.4 ($3.65{\pm}0.84kcal/min$ and $2.88{\pm}0.26METs$ in male), HWL (leisurely) ($2.85{\pm}0.70kcal/min$ and $3.20{\pm}0.57METs$ in female), and the highest rates were observed in HWF (fast) ($7.72{\pm}2.81kcal/min$, $5.84{\pm}1.84METs$ in male, $6.65{\pm}1.57kcal/min$, $7.13{\pm}0.68METs$ in female). Regarding the comparison of treadmill-based walking activities and self-selected walking, the energy expenditure of HWL (leisurely) was not significantly different from that of TW2.4. In case of male, no significant difference was observed between energy costs of HWB (brisk), HWF (fast) and TW5.6 activities, whereas in female, energy expenditures during HWB (brisk) and HWF (fast) were significantly different from that of TW5.6. Conclusions: In this study, we observed that energy expenditure from self-selected walking activities of college students was comparable with treadmill-based activities at specific speeds. Our results suggested that a practicing leisurely or brisk walking for a minimum of 150 minutes per week by both male and female college students enable them to meet recommendations from the Physical activity guide for Koreans.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.800-803
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• 2005

Impact sounds, such as those created by footsteps, the dropping of an object or the moving of furniture, can be a source of great annoyance in residential buildings. Running and jumping impact sound by child and walking by adult are one of the most irritating noises in an apartment buildings. It's necessary to know that the impact power characteristics of real impact source in an apartment buildings. This study aims to investigate the impact power and impact time of normal walking and fast walking for 62 adults. It is shown that when the weight of the person increase, the maximum impact power increases. The impact power waveform for the adults walking varies for subjects walking types. The normal walking impact power lower than that of fast walking and impact time is higher than that of fast walking. The range of the impact power generated by adults walking is less than 1000 N.

• 전기학회논문지
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• 제62권4호
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• pp.536-543
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• 2013

In this paper, we propose a new type of hexapod robot that can walk fast. Most of the conventional hexapod robots are either rectangular type of hexagonal type. Those robots have drawbacks in the speed and stability of walking. The proposed robot has six legs, one fore leg, one hind leg, two left legs and two right legs. The proposed robot forms relatively wide supporting polygons along the walking direction, so it can walk very fast stably. We implemented the proposed hexapod robot and showed the feasibility of the robot by 3+3 walking experiment and 2+4 walking experiment.

• 대한간호학회지
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• 제36권1호
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• pp.94-102
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• 2006

Purpose: The purpose of this study was to confirm the effects of a moderate and fast walking exercise program on middle-aged women's fatigue, serum lipids and immunoglobulins. Method: A non-equivalent control group pretest-posttest design was used for this study. The experiment was conducted for 10 weeks from May 17th to July 25th, 2004 with 44 middle-aged women, consisting of 16 for the moderate walking group, 15 for the fast walking group and 13 for the control group. Result: Walking exercise at both a moderate and fast speed was effective in middle-aged women in reducing fatigue and serum lipids. It was also revealed that extended periods of exercise was more effective in decreasing fatigue while for reducing serum lipid, high intensity exercise was more effective. In this study, serum immunoglobulins were reduced after moderate and fast walking exercise but its cause was not fully understood so further research is needed. Conclusion: This study helps us recognize the importance of regular exercise and promotes motivation to exercise for a healthy life among middle-aged women.

• ETRI Journal
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• 제40권4호
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• pp.471-482
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• 2018

This paper proposes the necessity of a walking period in footstep planning and details situations in which it should be considered. An optimization-based fast footstep planner that takes the walking period into consideration is also presented. This footstep planner comprises three stages. A binary search is first used to determine the walking period. The front stride, side stride, and walking direction are then determined using the modified rapidly-exploring random tree algorithm. Finally, particle swarm optimization (PSO) is performed to ensure feasibility without departing significantly from the results determined in the two stages. The parameters determined in the previous two stages are optimized together through the PSO. Fast footstep planning is essential for coping with dynamic obstacle environments; however, optimization techniques may require a large computation time. The two stages play an important role in limiting the search space in the PSO. This framework enables fast footstep planning without compromising on the benefits of a continuous optimization approach.

• The Journal of Korean Physical Therapy
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• 제27권4호
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• pp.190-195
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• 2015

Purpose: The aim of this study was to determine the effects of isokinetic eccentric training (IET) on lower extremity muscle activation and walking velocity according to slow velocity and fast velocity of isokinetic eccentric training in stroke patients. Methods: Thirty subjects were randomly divided into three groups: experimental group I (n=10), group II (n=10), and control group III (n=10). Each group was provided intervention under three conditions, as follows: isokinetic eccentric training + slow velocity (group I), isokinetic eccentric training + fast velocity (group II), and sit to stand training (group III). The training program was conducted for eight weeks (five times per week; 30 minutes per day). Subjects were measured on lower extremity muscle (vastus lateralis, vastus medialis, gastrocnemius) activation and walking velocity. Analysis of covariance (ANCOVA) were performed for comparison of lower extremity muscle activation and walking velocity between different intervention methods. Results: Significant difference in lower extremity muscle activation and walking velocity was observed in experimental group I and group II compared with the control group III (p<0.01). Results of post-hoc analysis showed a significant in lower extremity muscle activation and walking velocity in group I compared with group II and group III. Conclusion: Findings of this study suggest that slow velocity and fast velocity using isokinetic eccentric training may have a beneficial effect on improvement of lower extremity muscle activation and walking velocity in stroke patients.

• 한국정보통신학회논문지
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• 제14권8호
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• pp.1901-1906
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• 2010

걸음걸이 패턴 분류는 많은 응용분야가 있을 뿐만 아니라 매우 중요한 연구 분야이다. 따라서 본 연구에서는 허리에 부착된 가속도 모듈로부터 획득된 신호를 이용하여 천천히 걷기(slow walking, S.W), 일반 걷기(normal walking, N.W), 빠르게 걷기(fast walking, F.W) 등의 보행 패턴을 분류하고자한다. 11명의 성인으로부터 블루트스 모듈을 이용하여 100Hz로 샘플링된 3축 가속도 신호를 획득하였다. 획득된 데이터는 웨이브렛 변환을 이용하여 분석하였다. 걸음걸이 패턴은 두가지의 파라미터들을 이용하여 분석되어지는데, 하나는 운동에 해당하는 웨이브렛 계수의 에너지(power)와 전 후방향의 전체 에너지사이의 비율(RPA)이고, 다른 파라미터는 전 후 방향과 상 하 수직 방향 사이에서 웨이브렛 계수의 제곱근 평균 비율(RAV)이다. 천천히 걷기는 다른 걷기와 비교했을 때 작은 RPA값을 가지게 되어 분류가 용이하며, 천천히 걷기는 RAV를 이용하여 일반 걷기와 구별되어 질 수 있었다. 따라서 본연구는 건강한 성인에게서 3축 가속도 신호를 획득한 후 웨이브렛 파라미터를 이용하여 걷기 패턴을 잘 구별할 수 있는 연구임을 확인 하였다.

• 한국전문물리치료학회지
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• 제21권4호
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• pp.34-39
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• 2014

The purpose of this study was to examine the effect of three cognitive tasks on gait at a preferred walking speed, and at a fast speed, using dual-task methodology. A total of 29 stroke patients participated in the study. All 29 subjects performed 2 motor tasks (10-meter walk task and timed up and go task each at a preferred and a fast speed) and three cognitive tasks [Stroop, word list generation (WLG), serial subtraction (SS)] under dual-task conditions [cognitive-motor interference (CMI)] in a randomized order. Gait speeds were measured in six different conditions. A repeated-measure analysis of variance was employed to compare the results of the Stroop training, WLG, and SS tasks during preferred and fast walking. A Bonferroni adjustment use for post hoc analysis. The level of statistical significance was set at ${\alpha}=.05$. A CMI effect occurred for performance of a 10-meter walking task at two different speed and a cognitive task (p<.05). Stroop had a significantly greater effect than SS and WLG (p<.05). The timed up and go task was affected when performed with fast walking speed during Stroop cognitive task (p<.05), but was not affected if performed with preferred walking speed during a cognitive task (p>.05). This study showed that CMI of Stroop can be used as a rehabilitation program for stroke patients.

• 융합신호처리학회논문지
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• 제13권2호
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• pp.113-118
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• 2012

기존의 4족 보행 로봇에서의 다리 부착 위치는 말, 사자 등의 동물에서 볼 수 있는 것과 같은 형태로서 사람들에게 익숙한 형태이기 때문에 외관상 자연스러우나 보행의 안정성, 보행의 속도 등 보행의 관점에서는 비효율적인 측면이 있다. 본 논문에서는 자연계에는 존재하지 않는 형태로서 보행이 효율적으로 이루어지도록 네 다리를 몸체에 부착한 형태의 4족 보행 로봇에 대하여 기술한다. 제안된 4족 보행 로봇은 로봇의 진행 방향에 대하여 좌우 다리와 전후다리를 갖는다. 일반적인 구조의 4족 보행 로봇은 정적인 보행을 하기 위하여 항상 세 다리가 지면에 닿아야하고 로봇의 무게 중심을 로봇 진행 방향에 대하여 좌우로 이동시켜주어야 한다. 또한 보행 속도를 높이기 위해서는 두 다리만 동시에 지면에 닿는 동적인 보행을 수행하여야 하는데 이는 제어하기가 쉽지 않고 사용된 모터의 특성에 따라서는 동적인 제어가 불가능할 수도 있다. 반면 제안된 로봇은 정적인 보행에서도 두 다리를 동시에 이동할 수 있어 보행의 안정성과 효율성을 크게 향상시켰다.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.626-633
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• 2009

A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.