• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.8
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• pp.5219-5226
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• 2014

This paper proposes an improved scheme of pedestrian position information system using neural network theory in a GPS-disabled area. Through a learning/obtaining gait pattern and step distance about walk, run, duck walk, crab walk and crawl, the position estimation error could be minimized by rejecting the inertial navigation drift. A portable hardware module was implemented to evaluate the performance of the proposed system. The performance and effectiveness of the suggested algorithm was verified by experiments indoors.

• The Journal of Korean Physical Therapy
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• v.30 no.1
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• pp.14-22
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• 2018

Purpose: This study examined the effects of the lower limb alignment on the pelvis, hip, and knee kinematics in people with genu varum during stair walking. Methods: Forty subjects were enrolled in this study. People who had intercondylar distance ${\geq}4cm$ were classified in the genu varum group, and people who had intercondylar distance <4cm and intermalleolar distance <4cm were placed in the control group. 3D motion analysis was used to collect the pelvis, hip, and knee kinematic data while subjects were walking stairs with three steps. Results: During stair ascent, the genu varum group had decreased pelvic lateral tilt and hip adduction at the early stance phase and decreased pelvic lateral tilt at the swing phase compared to the control group. At the same time, they had decreased minimal hip adduction ROM at the early stance and decreased maximum pelvic lateral tilt ROM and minimum hip rotation ROM at the swing phase. During stair descent, the genu varum group had decreased pelvic lateral tilt at the early stance and decreased pelvic lateral tilt and pelvic rotation at the swing phase. In addition, they had decreased pelvic frontal ROM during single limb support and increased knee sagittal ROM during the whole gait cycle. Conclusion: This study suggests that a genu varum deformity could affect the pelvis, hip and knee kinematics. In addition, the biomechanical risk factors that could result in the articular impairments by the excessive loads from lower limb malalignment were identified.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.13 no.1
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• pp.36-43
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• 2007

Purpose: An objective analysis and observations were to be done on hemiplegia patients that are wearing a walking support device, Stroke shoes. Their improvements in walking pace, the reduction of distance between the two knee joint, the increase of curve angle of the knee joint and their steps and the reduction of ankle joint upon swing phase were analyzed using a 20 walking analyzer. Methods: An examination was carried out to see the patients' communication skill and independent walking and then let them walk with the Stroke shoes on to get results before and after wearing it. Simi Reality Motion Systems GmbH (Germany, 2007) was used to analyze the results regarding knee joint and ankle joint angle changes of sagitta plane and coronal plane, stepping distances, distances between the knees and walking pace. Results: 1. The articulation angle of ankle joint during swing phase decreased and knee joint has shown a statistically significant increase in such value(p<0.05). 2. Only knee joint showed a significant increase in articulation angle during heel strike(p<0.05). 3. Knee joint showed a significant increase in articulation angle during toe off(p<0.05). 4. The distance between the two knees as well as their foot steps significantly decreased compared with when Stroke shoes were not worn(p<0.05). 5. Stroke shoes with FES have shown positive effects on the patients in improving their walking styles overall. (p<0.05). Conclusion: There was an improvement in rotation walking pattern by a reduction in the distance between the knees after wearing Stroke shoes with FES. Plantar flexion reduced that occurred in ankle joint during walking and flexion angle increased in knee joint, both of which improved foot drop which was a major problem in hemiplegia patients. Also it is believed that the device will have some positive influences on knee joint stiffening paralysis to aid in improving inefficient walking phases.

• Physical Therapy Rehabilitation Science
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• v.3 no.2
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• pp.134-141
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• 2014

Objective: The purpose of this study was to compare with different distance across three conditions in stroke survivors with the grading of cognitive state. Design: Cross-sectional study. Methods: Twelve stroke patients who agreed to active participation were included. Participants were allotted to normal cognitive (CN) group (n=7) and cognitive impairment (CI) group (n=5) and then walked on a self-paced walkway at three conditions on the Time Up and Go (TUG) test and the 6 minute walk test (6MWT): 1) walking with your comfortable speed, 2) walking while carrying a tray with glasses, 3) walking with a verbal cognitive task. The TUG test was repeated three successful times on each condition. For the 6MWT, participants were tested one time. Results: The CI group walked slower than the CN group at the three conditions on the TUG test. However, there was no significant difference between two groups to each condition. A significant effect of dual tasking was found only in error of verbal cognitive task condition for the TUG test (p<0.05). On the 6MWT, the participants in the CI group walked short distance rather than the CN group (p<0.05). There were significant differences between two groups not only at all conditions but also at error of verbal cognitive task condition as well (p<0.05). Conclusions: To consider the results of different distances such as the TUG test and the 6MWT, we think that exercises in long distance would be more effective to patients with CI. Those would be improved patient's endurance in cognitive problem.

• Journal of Convergence for Information Technology
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• v.9 no.3
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• pp.128-133
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• 2019

The purpose of this study is to verify whether the data measured by the researcher and the smart shoe sensor data are the same or similar by performing the 6 - minute walking test and time up and go test after putting smart shoes on a normal person. Ten normal adult males participated. After wearing smart shoes, they performed a 6-minute walk test and a time up and go test. The results of this experiment show that the accuracy of the current sensor is high. The difference in the distance of the 6-minute walking test is that the difference is because the turning point, which is not calculated in the actual 30-m track, measures the distance. From this point of view, it can be seen that smart shoes measure more accurate distance and it is expected that various tests will be possible through smart sensors.

• The Journal of Korean Physical Therapy
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• v.27 no.6
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• pp.407-412
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• 2015

Purpose: This study aimed to evaluate changes in the balance ability of patients whose head positions were altered due to stroke. Subjects were divided into three groups to determine the effects of the training on dynamic balance and gait. Methods: Forty-two stroke patients were enrolled. The Visual Feedback Training (VFT) group performed four sets of exercises per training session using a Sensoneck device, while the Active Range of Motion (ART) group performed eight sets per training session after receiving education from an experienced therapist. The Visual Feedback with Active Range of Motion (VAT) group performed four sets of active range of motion and two sets of visual-feedback training per session using a Sensoneck device. The training sessions were conducted three days a week for eight weeks. Results: The comparison of changes in dynamic balance ability showed that a significant difference in the total distance of the body center was found in the VFT group (p<0.05) and Significant differences were found according to the training period (p<0.05). The comparison of the 10 m walk test showed that the main effect test, treatment period and interactions between group had statistically significant differences between the three groups (p<0.05). Conclusion: Head-adjustment training using visual feedback can improve the balance ability and gait of stroke patients. These results show that coordination training between the eyes and head with visual feedback exercises can be used as a treatment approach to affect postural control through various activities involving the central nervous system.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.305-312
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• 2014

In this study, in order to quantitatively confirm walking rehabilitation degree, we analyzed EMG pattern simulated abnormal gait and normal gait by applying a curve fitting. We calculated the suitable high-order function for EMG signal, and classified them into 5 groups by using cluster analysis. Depending on the distance from normal pattern group, we listed the pattern group and then the distribution of each variables were confirmed. The amplitude-decreased pattern was the most similar to the normal pattern, but the reversed pattern showed the lowest similarity. Due to the smaller overlapping range, the distribution of the groups were possible to classify using the value of variable. The standard deviation of each term coefficient was compared to indicate the quantitative rehabilitation extent, and the higher value was confirmed as the pattern is close to the normal pattern. Consequently, the representation of quantitative rehabilitation extent is expected to contribute to the more effective rehabilitation method study.