• 한국산업보건학회지
• /
• 제19권1호
• /
• pp.25-29
• /
• 2009

The purpose of this study was to investigate the effect of two different lifting posture on the plantar foot pressure, force and COP(center of pressure) trajectory path during object lifting. Fourteen healthy adults who had no musculoskeletal disorders were instructed to lift with two postures(stoop and squat) and two object weights(empty box and 10 kg box). Plantar foot pressures, forces and COP trajectory path were recorded by the F-mat system(Tekscan, Boston, USA) during object lifting with barefoot. Plantar foot surface was defined as seven regions for pressure measurement; two toe regions, three forefoot regions, one midfoot region and one heel region. Paired t-test was used to compare the outcomes of peak pressure and maximum force with different two lifting postures and two object weights. Plantar peak pressure and maximum force under hallux was significantly greater in squat posture than stoop posture during the two different boxes lifting(p<.05). During the empty box lifting, maximum force under lessor toes was significantly less and plantar peak pressure under second metatarsal region was significantly greater in squat than stoop(p<.05). Maximum force under heel was significantly less in squat than stoop posture during 10kg box lifting(p<.05). Finally, COP trajectory path was significantly greater in squat than stoop(p<.05). These findings confirm that there are significantly change in the structure and function of the foot during the object lifting with different posture. Future studies should focus on the contribution of both structural and functional change to the development of common foot problems in adults.

• 제어로봇시스템학회논문지
• /
• 제20권9호
• /
• pp.957-963
• /
• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• 대한교통학회지
• /
• 제29권6호
• /
• pp.85-93
• /
• 2011

보도 폭은 보행자들의 쾌적한 통행 환경 조성에 중요한 요인 중 하나이다. 보도 폭을 결정하는 절차는 도로용량 편람에 제시된 서비스수준을 이용하여 정하는 방법이 제시되어 있다. 그러나 편람은 도시 가로상 보도와 지하철역내 보행자도로를 구분하지 않고 서비스수준을 제시하고 있어, 두 환경에서 보행자 이동 특성의 차이를 반영하기 어렵다. 지하철 역내 통로에서는 자동차 교통류와 유사하게 종방향으로 보행자 군을 형성하는 경우가 빈번하지만 도시 가로에서는 매우 드물게 관찰되는 특수한 상황이기 때문이다. 따라서 도시 가로상 보도의 고유 특성을 반영하기 위해서는 보도 서비스수준에 방법상의 변화가 필요하다. 본고는 새로운 보도 서비스수준 평가방안을 검토하고, 보도 폭 설계에 활용될 수 있는 근거를 마련하기 위해 옥외실험을 실시하였다. 특히 본 논문에서는 새로운 서비스수준 척도를 정량적으로 평가하기 위해 GPS를 이용하였고, 정량적 평가와 정성적인 평가결과를 비교적으로 분석하였다.

• 제어로봇시스템학회논문지
• /
• 제20권9호
• /
• pp.936-941
• /
• 2014

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.