• 제어로봇시스템학회논문지
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• 제8권10호
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• 대한기계학회논문집A
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• 제31권8호
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• pp.889-895
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• 2007

Quantifying dynamic stability is important to assessment of falling risk or functional recovery for leg injured people. Human locomotion is complex and known to exhibit nonlinear dynamical behaviors. The purpose of this study is to quantify major joints of the body using chaos analysis during walking. Time series of the chaotic signals show how gait patterns change over time. The gait experiments were carried out for ten young males walking on a motorized treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The correlation dimension and the largest Lyapunov exponent were calculated from the time series to quantify stabilities of the joints. This study presents a data set of nonlinear dynamic characteristics for eleven joints engaged in normal level walking.

• 대한물리치료과학회지
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• 제5권3호
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• pp.617-624
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• 1998

A variety of neuromuscular diseases in children cause muscle imbalance. impaired function, and resultant deformity of the lower extremities. Equinovarus, equinos, adductor contracture are common deformity of lower extremities in the children. Generally, the transfer was successful in improving or maintaining range of motion, stability of the joint and gait. Postoperative physical therapy is important. Physical therapy was instituted after cast removal. All children received stretching exercise, range of motion exercise for the joint, proprioceptive neuromuscular fascilitation and gait training was administered. This article describes our experience with the physical therapy for tendon transfered spastic cerebral palsy and discusses the therapeutic protocol.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.141-148
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• 2012

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2405-2407
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• 2003

This study deals with the gait optimization of via points on biped robot. ZMP(Zero Moment Point) is most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, legs's trajectory and a desired ZMP trajectory is required, balancing weight's movement is solved by FDM(Finite Difference Method). In this study, optimal index is defined to dynamically static walking of a biped robot, and optimization of via points is applied by GA(Genetic Algorithm).

• 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.

• 한국운동역학회지
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• 제17권3호
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• pp.147-154
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• 2007

This study's purpose is to investigate the effects on leg muscle activity caused by perturbation, using a trapdoor system during the support phase of gait for healthy adults (n = 6, height $177.5{\pm}5.5cm$, weight $81.0{\pm}9.5kg$, age $30.0{\pm}3.3yrs$). The trapdoor had the functional ability of causing inversion or eversion. The release time for the trapdoor was specified for two times, 0.3 and 0.5 seconds after heel contact. While altering these variables, EMG was recorded for the leg muscles (rectus femoris, biceps femoris, vastus lateralis, tibialis anterior, gastrocnemius, soleus). The following conclusions were derived. The steptime was longer for the 0.5s eversion than 0.3s inversion condition. So in order to regain stability after the perturbation the unsupporting leg reached forward rapidly. This quick reflex can be observed through the center of pressure (COP) and its rapid change in direction. The gastrocnemius was activated throughout the total experiment. There was a low amount of activity recorded in the rectus femoris, vastus lateralis and tibialis anterior except for the condition of inversion 0.3s. For most of the conditions, the highest average EMG peak values were recorded during the condition of inversion 0.3s. The iEMG patterns were similar for the conditions of inversion 0.3s and eversion 0.3s. To cope with the rapid change in these conditions, the biceps femoris was activated. During the experiment except for the condition of normal gait, the activity of the soleus and gastrocnemius was relatively high. Therefore, to prevent injury from perturbation of the lower leg strengthening of the soleus and gastrocnemius is required. Likewise to prevent injury to the thigh strengthening for the biceps femoris.

• PNF and Movement
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• 제19권2호
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• pp.233-242
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• 2021

Purpose: The purpose of this study was to determine the changes in foot contact area and pressure when walking with a functional insole that emphasizes the Hallux point as compared to a general insole. Methods: In this study, an experiment was conducted to investigate changes in plantar pressure and contact area for a functional insole that emphasized the Hallux point as compared to a general insole. A lower extremity robot was used for walking reproduction. First, the gait sequence according to the two insoles was determined through a randomized controlled trial comparison. According to the sequence procedure, the insole was attached to the shoe and then worn on the right side of the lower extremity robot for gait reproduction at a normal gait speed of 20 steps per minute. After programming the robot to walk, the experiment was carried out. The result value was determined by averaging the pressure and area data of the fore and rear foot measures after walking at 20 steps per minute. Results: The functional insole that emphasized the hallux point significantly increased the forefoot and rearfoot contact area (p < 0.05) and significantly decreased the forefoot and rearfoot contact pressure (p < 0.05) compared to the general insole. Conclusion: A functional insole that emphasizes the hallux point does not collapse the medial longitudinal arch during gait, increasing foot stability and reducing fatigue. Thus, this functional insole needs to be widely used clinically.

• 융합정보논문지
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• 제8권1호
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• pp.9-14
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• 2018

본 연구는 맨발 보행과 운동화 착용 보행에서 보행주기의 차이를 비교하여 보행역학에 따른 신발 개발에 기초자료를 제공하고자 한다. 발의 변형과 이상이 없는 정상 성인 여성 30명을 대상으로 보행 주기를 측정하였다. 먼저 운동화를 착용하고 보행하여 주기를 측정한 후, 맨발로 보행하여 주기를 측정하여 데이터를 얻었다. 이후 두 데이터를 대응표본 T-test를 이용하여 비교하였다. 실험 결과 맨발 보행에서 입각기 좌측(p<.001), 우측(p<.005), 체중부하기 좌측(p<.009), 우측(p<.002), 전유각기 좌측(p<.002), 우측(p<.011), 양하지 지지기(p<.004)가 증가하였고, 중간 입각기 좌측(p<.016), 우측(p<.001), 유각기 좌측(p<.001)이 감소하였다. 이는 맨발 보행이 다양한 발의 감각의 입력을 증가시켜 보행안정성이 높은 보행이 가능해 졌다고 보여 지며, 향후 보행 주기에 의거하여 맨발보행과 가까운 신발 개량이 필요하다고 사료된다. 향후 신발의 개량을 위해 신발 종류에 따른 보행주기 연구가 필요할 것이다.