• Journal of Biosystems Engineering
• /
• 제32권5호
• /
• pp.339-347
• /
• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• PNF and Movement
• /
• 제7권4호
• /
• pp.31-36
• /
• 2009

Many daily activities require people to complete a motor task while walking. Substantial gait decrements during simultaneous attention to a variety of cognitive tasks have been shown by a group of severely injured neurological patients of mixed etiology. And previous studies have shown that the attentional load of a walking-associated task increased with its level of difficulty. The purpose of this study was to analyze subjects' gait changes are affected by the effects of arithmetic task difficulty and performance level. Participants performed a walking task alone, three different Arithmetic tasks while seated, and among them, two kinds of the simillar Arithmetic tasks in combination with walking. Reaction time and accuracy were recorded for two of the Arithmetic tasks. The mean values of the gait were measured using a Timed Up and Go test among 11 with post-stroke patients while walking with and without forward counting (WFC) and backward counting(WBC).There was significant Arithmetic Task Difficulty level between the 10-forward counting task condition(FC) and the 10-backward counting task condition(BC)(p=0.008). The mean values of T.U.G time were significantly higher under backward counting dual-task condition than during a simple walking task(p=0.009) and WFC(p=0.009). The change in T.U.G time during WFC was higher when compared with the change during a simple walking, but there was no significant difference (p=0.246). This study suggesting that a high interference could be linked with a high level of difficulty, whereas adaptive task enabled participants to perfectly share their attention between two concurrent tasks. Future research should determine whether dual task training can reduce gait decrements in dual task situations in people after stroke. And the dual-task-based exercise program is feasible and beneficial for improving walking ability in subjects with stroke.

• Journal of Biosystems Engineering
• /
• 제27권6호
• /
• pp.513-520
• /
• 2002

A 5-row walking garlic harvester with pulling mechanism was developed in the study, based upon a kinematical analysis and related preliminary field tests on the conventional garlic harvesting method. The harvesting efficiency of the developed harvester was more than 98% in the garlic field irrigated before harvesting, 80-85% in the field without irrigation. The harvesting performance of the harvester was 660∼825㎡/hr at the forward speed of harvester of 0.3m/s in the irrigated field before garlic harvesting. For proper garlic drying and collection, the harvester discharged the harvested garlic on the ground uniformly at the angles of 135。∼150。 to its forward direction with the garlic bulb's placing toward the harvester. In the field tests, it was recommended that the forward speed of the harvester be approximately less than 0.2m/s, and that the spacing of planting garlic seeds should be standardized in the future fur increasing its harvesting efficiency.

• 국제물리치료학회지
• /
• 제4권2호
• /
• pp.566-572
• /
• 2013

This study aims to compared effect of balance between general walking exercise and power walking exercise. Twenty subjects were classified into two groups, general walking exercise(n=10) and power walking exercise(n=10). As a result, two group showed difference within the group and there is significant difference between two groups. 1) In compared static balance of sway area at pre-post test to exercise group, general walking exercise group did not change significantly. however, power walking exercise group did change significantly. and At sway distance, two group showed significant changes. 2) In compared Static balance between the groups sway area and sway path at pre-post test, two group showed significant changes. 3) In compared dynamic balance of center distance at pre-post test to exercise group, general walking exercise group was no significant difference in all directions. power walking exercise group was significant difference in all directions. 4) In compared dynamic balance between the groups sway area and sway path at pre-post test, there was no significant difference in leftward, rightward, forward directions and was significant difference in backward, overall direction. Therefore, power walking exercise can be recommended promote balance.

• 대한통합의학회지
• /
• 제10권4호
• /
• pp.241-250
• /
• 2022

Purpose : The purpose of this study was to investigate the effect of backward walking exercise on changes in the cervical angle and gait parameters in subjects with moderate forward head posture. Methods : Four subjects were selected for this study. In particular, subjects with an average of 43 subjects with moderate craniovertebral angles were selected as the criteria for subject selection. The exercise program consisted of a 5 minutes warm-up exercise, 20 minutes main exercise, and 5 minutes cool-down exercise. In the main exercise, the treadmill speed was 2.5 km/h for men, 2.0 km/h for women in the first week, from the 2nd week to the 4th week, it was increased by 0.5 km/h every week. Results : Craniovertebral angle increased by 2.06±2.46 ° before and after the backward walking exercise, and craniorotational angle decreased by -1.69±3.33 ° before and after exercise. As for the gait parameters, in the amount of change before and after the backward walking exercise, the left foot pressure was 4.58±5.70 % from front to back and the right foot pressure was 5.08±3.06 % from front to back. The left step length and right step length showed a change of -.33±4.43 cm and -2.08±7.26 cm, respectively. stride length showed a change of -2.59±11.18 cm. The left and right stance phase showed a change of -1.02±2.03 % and -1.23±1.54 %, respectively. The left and right swing phase showed changes of 1.02±2.03 % and 1.22±1.53 %, respectively. The left and right step times were -.01±.06 sec and -.02±.12 sec, respectively. The stride time showed a change of -.03±.18 sec. Conclusion : Changes in cervical angle and gait parameters were confirmed by performing backward walking exercise for subjects with moderate forward head posture for 4 weeks. Therefore, additional research should be conducted based on this case study.

• 대한정형외과스포츠의학회:학술대회논문집
• /
• 대한정형외과스포츠의학회 2004년도 The 7th korea-japan joint meeting of orthopaedic sports medicine
• /
• pp.1-1
• /
• 2004

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.138-140
• /
• 2004

This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

• 로봇학회논문지
• /
• 제5권4호
• /
• pp.294-301
• /
• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.359-363
• /
• 2004

Numerous studies have been performed to analyze various phenomena of human's walking, gait. In the present study, unrecognized walking and recognized walking were analyzed by three dimensional motion capture system(VICON motion system Ltd., England) and simulated by computer program. Two normal males participated in measuring the motion of unrecognized and recognized walking. Six infrared cameras and four force plates were used and sixteen reflective markers were attached to the subject to capture the motion. A musculoskeletal model was generated anatomically by using ADAMS(MSC software corp., USA) and LifeMOD(Biomechanics Research Group Inc, USA). The inverse dynamic simulation and forward dynamic simulation were also performed. The result of simulation was similar to the experimental result. This study provides the base line for dynamic simulation of the falling walking. It will be useful to simulate various another pathologic gaits for old peoples.

• 대한의용생체공학회:학술대회논문집
• /
• 대한의용생체공학회 1997년도 춘계학술대회
• /
• pp.131-135
• /
• 1997

We implementated an ultrasonic wave cane for the blind. The cane detect walking obstacle and provide a walking direction. The cane used time of flight method of ultrasonic-wave for a measurement of obstacle distance and fluxgate geomagnetic sensor for guidance of walking direction. This system can detect an obstacle of upward, forward, downward and that warn to the blind with vibration, pitch sound. And the blind can know walking direction to voice output. As a result, the blind could efficiently avoid a exposed obstacle, obstacles beyond knee, an exposed street obstacle, a branch of tree person's height and it is usable search for surrounding land mark.