• 대한물리의학회지
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• 제18권2호
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• pp.83-92
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• 2023

PURPOSE: This study examined the effect of using a smartphone according to the direction of wearing a bag on muscle characteristics and balance ability in adults in their 20s with chronic ankle instability. METHODS: Twelve people with chronic ankle instability were examined for three weeks. The types of carrying a bag were classified into three conditions: to the right, to the left, and on both sides. The muscle characteristics and balance ability were measured and analyzed. The one-way ANOVA was used to obtain a difference between conditions. RESULTS: A significant difference in the muscle tone of medial gastrocnemius was observed between the dominant group and the non-dominant group. The muscle tone and stiffness of the peroneus longus decreased significantly after walking with a smartphone and carrying a bag. The maximum slope of the forward and reverse directions increased and decreased significantly, respectively, after walking with a smartphone and carrying a bag on both sides. CONCLUSION: In this study, muscle fatigue causes a decrease in muscle tone and stiffness with chronic ankle instability when carrying a heavy back while walking, and there were asymmetric changes in the balance ability. Therefore, adults with chronic ankle instability should carefully avoid carrying a heavy bag for extended times, irrespective of the style or type of the bag.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.518-523
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• 2015

This paper proposes a gait phase classifier using a Recurrent Neural Network (RNN). Walking is a type of dynamic system, and as such it seems that the classifier made by using a general feed forward neural network structure is not appropriate. It is known that an RNN is suitable to model a dynamic system. Because the proposed RNN is simple, we use a back propagation algorithm to train the weights of the network. The input data of the RNN is the lower body's joint angles and angular velocities which are acquired by using the lower limb exoskeleton robot, ROBIN-H1. The classifier categorizes a gait cycle as two phases, swing and stance. In the experiment for performance verification, we compared the proposed method and general feed forward neural network based method and showed that the proposed method is superior.

• 한국인터넷방송통신학회논문지
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• 제20권5호
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• pp.79-88
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• 2020

본 연구에서는 태양광 패널 청소 로봇이 진공 패드 압력을 이용하여 경사진 패널 위를 미끄러짐 없이 효율적으로 주행하는 방법을 제안한다. 이 방법에서는 로봇을 경사로 패널에 고정시키기 위해 로봇 발에 부착된 고무 패드의 압력을 진공으로 만들게 된다. 구동 방식으로 Linkage 매커니즘을 적용하여 미끄러짐을 방지함과 동시에 중량을 감소하여 소모전력을 낮추는 방법을 제안하였다. 로봇의 안전한 구동을 위하여 솔레노이드 밸브, 근접 센서, 엔코더를 사용하여 로봇의 움직임을 감지하며, 주행할 때 고무 패드의 압력을 제어하여 안전한 경사로 주행을 가능하게 하였다. 로봇의 전진 동작을 위하여 다중의 솔레노이드 밸브들의 동작 시퀀스를 완성하여 양쪽 발에 부착된 6개의 진공패드가 진공 및 대기압을 정확하게 형성 할수 있도록 제어하여 이동 중 미끄러짐 없이 전진할 수 있게 하였다. 마지막으로 주행 및 회전 실험을 통해 36도의 태양광 패널에서 직진 및 회전 동작을 수행할 수 있음을 확인하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.565-568
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• 1998

In this paper, we implemented the electornic moving aid system for safe walking of the blind. An obstacle detecting of each sector used ultrasound and a distance measurement used time of flight. The alarm is designed to have a sound and a tactile function that can be selected on an user's convenience. This system can detect and obstacle of upward, forward, downward and optimally warn to the blind with vibration, beep sound by appling warning algorithm on object detection. Experimental testing and performance evaluation have been successfully carried out with a prototype cane, and the experiment shows the capability of the function to detect unknown objects within an assigned distance, under knees, over head height, and crushed puddles.

• 한국생활과학회지
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• 제15권3호
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• pp.449-455
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• 2006

We researched the comfort degree of 8 bodily parts while high school students carry out 9 different motions common to them. We observed high school students to study active effection when they are wearing Saenghwal Hanboks as a school uniform. As a result of this study, the highest degrees of comfort were recorded at standing position, walking, and upright sitting position with one's waist keeping 90 degree. On the other hand, the lowest degrees of comfort were experienced when they bend forward 45 degree and 90 degree each, and also when arms were folded across the chest. Furthermore, students reported that their buttocks, waist, and knees were comfortable during observation period, but that their backs, shoulders, and arm hole were uncomfortable throughout. In general, girls felt more comfortable than boys did, while they were wearing Saenghwal Hanbok as a school uniform.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1482-1487
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• 2003

This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.688-693
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• 2001

It is almost impossible to have a straight web for processing in the continuous process systems. The cambered web usually causes the strip walking and damage during process. It is necessary to identify the lateral dynamics of the cambered web for the precise control of lateral behavior. In this paper, a dynamic model of the lateral behavior for a cambered web is developed by introducing the concept of steering angle equivalent to moment caused by the camber. This model can be extended to include terms associated with moment, induced by roller's tilting, web slippage, and shear force, etc. Using this model, a new feed-forward controller is proposed to enable the on-line camber estimation, which is difficult to be measured directly, and the prediction of lateral deflection caused by camber. Computer simulation study shows that the proposed controller successfully eliminates the effect of camber and has better control performance than that of the existing PID controller.

• 로봇학회논문지
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• 제18권1호
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• pp.59-65
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• 2023

This paper proposes an Extended and Adaptive Inverse Perspective Mapping (EA-IPM) model that can obtain an accurate bird's-eye view (BEV) from the forward-looking monocular camera on the sidewalk with various curves. While Inverse Perspective Mapping (IPM) is a good way to obtain ground information, conventional methods assume a fixed relationship between the camera and the ground. Due to the nature of the driving environment of the mobile robot, there are more walking environments with frequent motion changes than flat roads, which have a fatal effect on IPM results. Therefore, we have developed an extended IPM process to be applicable in IPM on sidewalks by adding a formula for complementary Y-derive processes and roll motions to the existing adaptive IPM model that is robust to pitch motions. To convince the performance of the proposed method, we evaluated our results on both synthetic and real road and sidewalk datasets.

• Asian Spine Journal
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• 제12권6호
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• pp.1106-1116
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• 2018

Study Design: Prospective observational study. Purpose: To evaluate the disability domains relevant to Indian patients with low backache and propose a modified disability questionnaire for such patients. Overview of Literature: The Oswestry Disability Index (ODI) is a self-reported measurement tool that measures both pain and functional status and is used for evaluating disability caused by lower backache. Although ODI remains a good tool for disability assessment, from the Indian perspective questions related to weight lifting and sexual activity of ODI are questioned in some of the earlier studies. Activities of daily living in Indian patients vary substantially from those in other populations and include activities like bending forwards, sitting in floor and squatting which are not represented in the ODI. Methods: In this prospective observational study, a seven-step approach was used for the development of a questionnaire. Thirty patients were interviewed to identify the most challenging issue they faced while performing their daily activities (by free listing) and understand how important the questionnaire items were in terms of the standard ODI. Thus, a comprehensive disability questionnaire comprising 14 questions was developed and administered to 88 patients. Both qualitative (interviews) and quantitative methods (to establish the validity, reliability, and correlation with the Visual Analog Scale [VAS] and Rolland Morris disability questionnaire) were used to identify the 10 questions that best addressed the disability domains relevant to Indian patients. Results: According to free listing, four new questions pertaining to bending forward, sitting on the floor, walking on uneven surfaces, and work-related disabilities were included. In the second phase, wherein the questionnaire with 14 items was used, 56.8% patients did not answer the questions related to sexual activity, whereas 23.8% did not answer those related to walking on uneven surfaces. The modified questionnaire demonstrated good internal consistency (Cronbach's alpha=0.892) and correlation with the Rolland Morris questionnaire (Cronbach's alpha=0.850, p>0.05), as well as with the VAS score for disability (Cronbach's alpha=0.712, p>0.05) and pain (Cronbach's alpha=0.625, p>0.05). Conclusions: A modified disability questionnaire that was designed by adding two questions related to bending forward and work status and removing questions related to sexual activity and weight lifting or traveling (depending on the occupation) can help evaluate disability caused by back pain in Indian population.

• Physical Therapy Rehabilitation Science
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• 제6권3호
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• pp.120-126
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• 2017

Objective: The purpose of this study was to investigate the effects of backward treadmill gait training between underwater and ground environments on strength, proprioception, and walking ability in persons with stroke. Design: Randomized control trial. Methods: Twenty eight subjects participated in the study in which they were randomly assigned to either the underwater backward treadmill training (UBTT) group (n=13) or the BTT group (n=15). In both groups, forward gait training was performed for 20 minutes on the ground treadmill. The UBTT group performed backward gait on an underwater treadmill for 20 minutes while the BTT group performed backward gait on a ground treadmill for 20 minutes. The gait training in each group was performed twice a week for a total of six weeks. Muscle strength, proprioception, and gait ability was assessed using a digital power meter, joint angle recurrence method using the smartphone protractor application, the Figure-of-Eight walk test (F8W) and the functional gait assessment (FGA) respectively. Results: Both groups showed significant improvement in strength, F8W and FGA scores after training (p<0.05). However, there was no statistically significant difference between the two groups. Both groups showed significant improvement in proprioception after training (p<0.05). In the comparison between the two groups, there was a greater significant change in the UBTT group for joint proprioception (p<0.05). Conclusions: In this study, it was found that both backward treadmill gait training programs were effective on strength, proprioception, and gait ability, and that underwater training was particularly effective on proprioception compared to ground training.