• 한국운동역학회지
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• 제24권3호
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• pp.249-258
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• 2014

The purpose of this study was to investigate the different patterns of the lower limb between elderly and adult females to reduce the rate of falls. Ten old females(age: $73.1{\pm}2.69yrs$, height: $151.9{\pm}4.82cm$, mass: $57.36{\pm}5.36$) and ten adult females(age: $28\pm}4.76$ yrs, height: $160.6{\pm}6.83cm$, mass: $53.9{\pm}8.44$) were participated in this experiment. The gait motions were captured with Qualisys system and variables were calculated with Visual-3D. The following results were found. The elderly female group showed bigger inclination angle between COM and COP than the adult female group so that the dynamic stability was reduced in walking for the compensation with a bigger stride width. The elderly female group ensure for the necessary forward movement of COM in order to replace the decreased function of ankle and knee joint. If the distance between COM and COP is closer and the energy reduction of a specific joint is reduced, they could prevent the elderly female's falling rate by strengthening of muscles which were related the extension of ankle joint.

• 한국지능시스템학회논문지
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• 제20권5호
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• pp.603-609
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• 2010

본 논문은 SURF(Speeded Up Robust Features)를 기반으로 한 대상 물체 인식 알고리즘과 GP(Genetic Programming)를 기반으로 한 직진, 회전, 정지, 후진 걸음새(gait) 자동 생성을 각각 구현한다. 그리고 이를 결합 하여, 대상을 인식하고 자율적으로 접근 및 추종할 수 있는 인식 기반 지능적인 보행 기법을 제안한다. 4족 보행 로봇의 걸음새는 GP를 사용하여 각 관절의 궤적에 대한 회귀분석으로 생성한다. 고속의 특징점 검출에 적합한 SURF를 사용해서 물체의 위치와 크기를 인식하고, 물체까지의 거리를 계산한다. 4족 보행로봇의 물체 인식 및 이를 통한 자율접근 보행 실험은 ODE(Open Dynamics Engine) 기반의 Webots 시뮬레이션과 실제 로봇에 대해서 수행된다.

• 센서학회지
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• 제19권4호
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• pp.278-284
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• 2010

Indoor localization for pedestrian is the key technology for caring the elderly, the visually impaired and the handicapped in health care districts. It also becomes essential for the emergency responders where the GPS signal is not available. This paper presents newly developed pedestrian localization system using the gyro sensors, the magnetic compass and pressure sensors. Instead of using the accelerometer, the pedestrian gait is estimated from the gyro sensor measurements and the travel distance is estimated based on the gait kinematics. Fusing the gyro information and the magnetic compass information for heading angle estimation is presented with the error covariance analysis. A pressure sensor is used to identify the floor the pedestrian is walking on. A complete ambulatory system is implemented which estimates the pedestrian's 3D position and the heading.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.139-147
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• 2009

When the visually impaired walks inside a building like corridor, a GPS cannot be useful for the walker in estimating his or her position unlike the case of outdoor space. This paper presents two novel methods to measure the walking distance using a low cost camera worn on the chest of the visually impaired. In the first method we analyze the periodic variation of image focusing values. Walking steps are counted by checking the period for the rough measure of the walking distance. The second method counts the step number by monitoring fixtures on the ceiling, which have a certain interval. Lamps on the ceiling appeared on the video are monitored in this paper. The T-S fuzzy theory is used to detect lamps, and the walking steps are estimated by the positional variation of the lamp due to the gait of the walker. The two methods are tested in real experiment, and the results are compared.

• 대한인간공학회지
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• 제29권2호
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• pp.217-224
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• 2010

Research has been conducted to examine the effects of mechanical and sound characteristics of fabrics on affective quality. The present study developed the Affective Quality Evaluation and Estimation System for Textiles (AQEEST) with distinguished features that can be effectively used in the affective research of fabric frictional sound. The AQEEST consists of three subsystems (affective quality evaluation, affective quality estimation, and audible distance estimation subsystems) and each subsystem consists of three to four modules (e.g., evaluation condition setup, evaluation experimentation, and textile database management modules) depending on its functional requirements. The affective quality evaluation subsystem was designed to help administer an experiment in a systematic manner and present acoustic and visual stimuli simultaneously in various gait conditions (walking, jogging, and running) to mimic a more realistic situation of textile frictional sound production. Next, the affective quality estimation subsystem was designed to estimate the sound characteristics, affective qualities, overall psychological satisfaction, and reference cluster of a textile using its mechanical and/or sound characteristic information. Lastly, the audible distance estimation subsystem was designed to estimate the just noticeable sound pressure levels and audible distances of a textile for various gait conditions using its mechanical characteristic information. The AQEEST can be upgraded by accommodating more affective quality study results for various textiles.

• 대한전자공학회논문지SP
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• 제46권4호
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• pp.97-107
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• 2009

영상기반 보행인식 시스템에서 카메라와 객체가 이루는 각도(angle) 및 렌즈 왜곡과 같은 물리적 요인과 조명(illumination)과 같은 환경적 요인에 따라 인식률이 다르게 나타난다. 본 논문은 카메라에서 입력된 다양한 형태의 영상 왜곡을 보정하여 보행 인식 시스템의 성능 및 안정성을 향상시키는 기법을 제안한다. 제안된 방법은 물리적, 환경적 왜곡 요인이 존재하는 입력 영상에서의 인간의 보행 인식률을 기존 방식과 실험적으로 비교한다. 보다 구체적으로는 투영 변환(projective transform)을 통해 입력 영상의 왜곡을 효과적으로 보정하는 알고리듬을 제안하고 입력 영상의 왜곡 보정 전, 후를 비교하여 알고리듬의 실효성을 확인한다. 제안된 방법은 카메라로부터의 거리 및 환경에 불변하는 보편적인 보행 데이터를 획득하였다. 그 결과 제안된 보편적인 보행 데이터를 이용하여 실내 영상에서는 평균적으로 41.5%, 실외 영상에서는 평균적으로 55.5%의 향상된 보행 인식률을 보였다. 이것은 특정 개체의 특징을 데이터베이스(DB)화 하고 DB에 저장된 특정 개체를 검색하고 추적하는 데 효과적으로 이용될 수 있다.

• 대한기계학회논문집A
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• 제41권10호
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• pp.991-996
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• 2017

인간의 보행에서 안정적인 디딤을 가능하게 하는 동작특성은 보행 일주기의 60%를 차지하는 긴 디딤국면이다. 본 연구에서는 이러한 보행패턴을 자전거의 크랭크 구동장치에 반영하여 직립자세에서 안정적으로 구동할 수 있는 자전거를 설계하고자 한다. 크랭크의 회전속도를 디딤국면에서는 느리게 되돌림국면에서는 빠르게 움직이도록 급속귀환 기구를 크랭크 구동시스템에 적용하였다. 이 급속귀환 크랭크기구의 설계변수를 정의하고 설계변수의 변화가 크랭크의 거동에 미치는 영향을 시뮬레이션 하였다. 또한 실험장치를 제작한 후 탑승자의 구동동작을 분석한 결과 보행패턴을 접목한 크랭크는 사용자 무게중심 안정화에 기여하는 것으로 나타났다. 향후 보행패턴을 접목한 크랭크는 서서 타는 자전거의 구동시스템에 접목 가능할 것으로 보인다.

• 대한물리치료과학회지
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• 제27권3호
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• pp.35-44
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• 2020

Background: This study was to confirm the effect and feasibility of knee extension assist orthosis (KEAO) on balance and gait in subacute stroke patients. Design: Case study. Methods: The subjects of the study were 4 subacute stroke patients, who had an onset period of less than 6 months. The limit of stability (LOS) and berg balance scale (BBS), timed up and go test (TUG) were used to verify the dynamic balance ability, static balance ability, and gait ability pre and post and after wearing the knee extension assist orthosis (KEAO). In addition, the satisfaction survey was to confirm the feasibility of the knee extension assist orthosis (KEAO) through the to Korean quebec user evaluation of satisfaction assistive technology 2.0 (K-QUEST 2.0). Results: After the wearing on KEAO, the distance for the limit of stability decreased by mean 541.25±240.46 mm2, and the score on the berg balance scale improved by mean 5±2.71 point, and the time for the timed up and go test deceased by mean 3.75±1.71 second. The stability and durability were found to be full score, and the control, ease, effectiveness were some high score, and the size, weight, comfort were some low score in the satisfaction and feasibility. Conclusion: The knee extension assist orthosis (KEAO) produce in this study was improved the static balance ability, dynamic balance ability and gait ability of subacute stroke patients, and the satisfaction and feasibility were high in the stability, durability and effectiveness of the user.

• 대한물리의학회지
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• 제10권3호
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• pp.57-65
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• 2015

PURPOSE: The purpose of this study was to investigate the effect of balance training on different support surface (affected and non-affected sides) on the balance and gait function of chronic stroke patients. METHODS: The patients were randomly assigned to 1 of 4 groups. Group 1 received balance training on the stable surface, group 2 received balance training on the unstable surface, group 3 received balance training on different support surface (affected side: stable surface, non-affected side: unstable surface), and group 4 received balance training on different support surface (affected side: unstable, non-affected side: stable). Twelve sessions (30 min/d, 3 times/wk for 4 wk) were applied. There were assessed before and after the intervention with Balancia, functional reach test (FRT), lateral reach test (LRT), timed up-and-go (TUG), and 10-meter walking test (10MWT). RESULTS: After the training, all of the groups improved significantly than before training in Balancia, FRT, LRT, TUG, and 10MWT. There were significantly variable in sway distance, FRT, LRT, TUG, and 10MWT among the 4 groups. Post hoc analysis revealed that the group 3 had significantly higher results than other 3 groups in sway distance, and FRT, LRT, TUG, and 10MWT. CONCLUSION: Balance training on different support surface (affected side: stable surface, non-affected side: unstable surface) could facilitate a stronger beneficial effect on balance and walking ability than other balance trainings on different support surface in patients with stroke.

• 한국산학기술학회논문지
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• 제11권1호
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• pp.368-374
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• 2010

본 연구는 가정용 게임기를 이용한 재활 운동을 적용하여 뇌졸중 환자의 보행능력에 효과가 있는가를 알아보고자 하였다. 뇌졸중으로 6개월 이상 장애를 가진 32명이 연구에 참여하였고 게임운동군 16명과 대조군 16명으로 나누었다. 게임운동군은 가정용 게임기(PS2, sony)를 이용하여 1시간씩 주 3회를 6주간 실시하였다. 대조군은 운동의 적용없이 평상시 생활을 유지하도록 하였다. 운동 전과 후에 보행능력을 측정하여 효과를 비교하였다. 통계처리 방법으로 전.후 차이를 검증하기 위하여 Wilcoxon rank 검정을 실시하였고 대조군과의 차이 검증을 위하여 Mann.Whitney U 검정을 실시하였다. 모든 통계적 유의수준은 0.05로 하였다. 본 연구의 결과 보행능력에서 10 m 보행속도가 유의하게 증가하였고(p<.05), 6분 보행거리도 유의하게 증가하였다(p<.05). 결론적으로 가정용 게임기를 이용한 재활운동이 뇌졸중 환자의 보행능력에 효과가 있는 것으로 나타났다. 향후 뇌졸중 환자에게 흥미를 유발하고 기능회복의 효과를 가진 게임형태의 재활운동이 다양하게 개발되어 적용하는 연구가 필요하다고 생각한다.