• 한국전문물리치료학회지
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• 제8권3호
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• pp.1-10
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• 2001

The purpose of this study was to compare the static pressure, dynamic pressure, dynamic pressure-time integral, relative impulse, and contact time between the sound lower limb and amputated lower limb in trans-tibial amputee subjects using Parotec system. Seventeen trans-tibial amputee subjects wearing endoskeletal trans-tibial prosthesis voluntarily participated in this study. The results were as follows: 1) In static standing condition, there were significantly higher static pressure in sound lower limb insole sensor of 10, 14, 15, 18, 19, 23, and 24 and in amputated lower limb insole sensor of 9, 12, and 16 (p<.05). 2) In dynamic gait condition, there were significantly higher dynamic pressure in sound lower limb insole sensor of 2, 18, 22, 23, and 24 and in amputated lower limb insole sensor of 5, 9, 10, 11, 12, 14, 15, and 16 (p<.05). 3) In dynamic gait condition, there were significantly higher pressure-time integral in sound lower limb insole sensor of 2, 4, 18, 19, 20, 21, 23, and 24 and in amputated lower limb insole sensor of 5, 11, 12, and 15 (p<.05). 4) In dynamic gait condition, there were significantly higher relative impulse in sound lower limb insole sensor of 18, 19, 20, 22, 23, and 24 and in amputated lower limb insole sensor of 5, 9, 10, 11, 12, and 15 (p<.05). 5) In dynamic gait condition, there was significantly higher percentage of contact time in push off phase of sound lower limb and in support phase of amputated lower limb (p<.05). These results suggest that trans-tibial amputee subjects had characteristics of shortened push off phase due to unutilized forefoot and of lengthened support phase with higher pressure in the midfoot.

• 한국정밀공학회지
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• 제32권12호
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• pp.1065-1072
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• 2015

This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.

• 한국정보통신학회논문지
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• 제20권7호
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• pp.1389-1397
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• 2016

본 연구는 스마트인솔기술의 사업화기회를 분석하였다. 인솔에 압력감응센서, 가속도센서가 응용되어 발과 신체의 균형을 만들고 또한 엔터테인먼트(스포츠, 오락 등) 및 헬스케어용으로 활용되면서 기술의 스마트화를 확장하고 있다. 일례로 스마트인솔은 센서가 측정한 무게 값을 스마트폰으로 전송해 잘못된 보행습관을 고칠 수 있으며 운동시에는 무게중심 이동상황을 측정해 알려줌으로써 자세교정에 도움을 준다. 그럼에도 불구하고 스마트인솔기술은 엔터테인먼트 및 헬스케어 시장에서 뚜렷한 경계를 지니지 못하고 있다. 그것은 기능의 유사성에 따른 것으로써 피트니스밴드, 스마트양말, 스마트신발 등이 스마트인솔의 혜택을 대체할 수도 있기 때문이다. 스마트인솔의 사업화 기회는 스마트인솔 그 자체보다 심전도, 체온, 혈압 등에 관한 솔루션서비스의 도구로 위치할 것이다.

• 재활복지공학회논문지
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• 제11권2호
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• pp.115-124
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• 2017

본 연구에서는 하지의 좌우 불균형 검출을 위한 밸런스 측정 인솔을 개발하고 불균형을 개선하기 위한 청각 피드백 기술에 대한 검증을 하고자 하였다. 밸런스 인솔은 실시간 압력 감지 범위가 64 단계이며 발바닥 압력분포를 고려해 8개 부위에 FSR 센서를 탑재한 FPCB로 구성되었다. 피험자는 하지의 좌우 근력차이가 20% 이상 차이가 나는 피험자 20명을 선출하였다. 피험자들은 경사 0, 5, 10%와 속도 3, 4, 5km/h 로 15분 간 트레드밀 위에서 보행을 하였다. 또한 보행 시 나타나는 좌우 불균형을 평가 및 청각 피드백에 따른 개선효과를 검증하기 위해 측정된 족압 센서 데이터와 실시간 근육생리신호 데이터를 비교분석하였다. 실험 결과, 보행경사와 속도가 증가할수록 하지 좌우의 근력 불균형을 보유한 피험자들은 75.7%~140.9%까지 증가하는 반면 청각 피드백을 제공 시 10% 이내로 감소하는 결과를 보였다. 본 연구에서 개발 인솔 시스템을 이용한 보행환경에 따른 인체 좌우 불균형 발생시 FSR 신호 감도 결과와 인체생리신호 간 유효한 결과를 보였다. 향후 밸런스 피드백 보행 시 하지 좌우 불균형 개선 효과 경향을 보여 향후 족부 영역별 FSR 센서 민감도, 불균형 검출 및 개선을 위한 역치점 처리 알고리즘 개발에 대한 연구가 필요하다고 사료된다.

• 한국컴퓨터정보학회논문지
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• 제23권2호
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• pp.17-26
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• 2018

In this paper, we propose a gait type classification method based on pressure sensor which reflects various terrain and velocity variations. In order to obtain stable gait classification performance, we divide the whole gait data into several steps by detecting the swing phase, and normalize each step. Then, we extract robust features for both topographic variation and speed variation by using the Null-LDA(Null-Space Linear Discriminant Analysis) method. The experimental results show that the proposed method gives a good performance of gait type classification even though there is a change in the gait velocity and the terrain.

• Physical Therapy Rehabilitation Science
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• 제11권2호
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• pp.215-223
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• 2022

Objective: This study was to resolve the limitations of the experimental environment and to solve the shortcomings of the method of measuring human gait characteristics using optical measuring instruments. Design: A cross-sectional study. Methods: Fifteen healthy adults without a history of orthopedic surgery on the lower extremities for the past 6 months were participated. They were analyzed gait variables using the smart guide and the 3D image analysis at the same time, and their results were compared. Visual-3D was used to calculate the analysis variables. Results: The reliability and validity of the data according to the two measuring instruments were found to be very high; gait speed(0.85), cycle time(0.99), stride time of both feet(0.98, 0.97) stride legnth of both feet(0.86, 0.88) stride per minute of both feet(0.99, 0.96), foot speed of both feet(0.90, 0.91), step time of both feet(0.77, 0.71), step per minute(0.72, 0.74), stance time of both feet(0.96, 0.97), swing time of both feet(0.93, 0.79), double step time(0.81), initial double step time(0.84) and terminal step time(0.76). Conclusions: In the case of the smart insole, which measures human gait variables using the pressure sensor and inertial sensor inserted in the insole, the reliability and validity of the measured data were found to be very high. It can be used as a device to replace 3D image analysis when measuring pathological gait.

• 한국정밀공학회지
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• 제22권6호
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• pp.213-221
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• 2005

An insole type local shear force measurement system was developed and local shear stresses in the foot were measured during level walking. The shear force transducer based on the magneto-resistive principle, was a rigid 3-layer circular disc. Sensor calibrations with a specially designed calibration device showed that it provided relatively linear sensor outputs. Shear transducers were mounted on the locations of four metatarsal heads and heel in the insole. Sensor outputs were amplified, decorded in the bluetooth transmission part and then transferred to PC. In order to evaluate the developed system, both shear and plantar pressure measurements, synchronized with the three-dimensional motion analysis system, were performed on twelve young healthy male subjects, walking at their comfortable speeds. The maximum peak pressure during gait was 5.00kPa/B.W at the heel. The time when large local shear stresses were acted correlated well with the time of fast COP movements. The anteroposterior shear was dominant near the COP trajectory, but the mediolateral shear was noted away from the COP trajectory. The vector sum of shear stresses revealed a strong correlation with COP movement velocity. The present study will be helpful to select the material and to design of foot orthoses and orthopedic shoes for diabetic neuropathy or Hansen disease.

• 로봇학회논문지
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• 제17권3호
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• pp.296-302
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• 2022

This paper proposes a center of plantar foot pressure (CoP) trajectory estimation method based on Gaussian process regression, with the aim to show robust results regardless of the regions and numbers of FSRs of the insole sensor. This method can bring an interpolation between the measurement points inside the wearable insole sensor, and two experiments are conducted for performance evaluation. For this purpose, the input data used in the experiment are generated in three types (13 FSRs, 8 FSRs, 5 FSRs) according to the regions and numbers of FSRs. First, the estimation results of the CoP trajectory are compared using Gaussian process regression and weighted mean. As a result of each method, the estimation results of the two methods were similar in the case of 13 FSRs data. On the other hand, in the case of the 8 and 5 FSRs data, the weighted mean varies depending on the regions and numbers of FSRs, but the estimation results of Gaussian process regression showed similar results in spite of reducing the regions and numbers. Second, the estimation results of the CoP trajectory based on Gaussian process regression during several gait cycles are analyzed. In five gait cycles, the previous cycle and the current estimation results are compared, and it was confirmed that similar trajectories appeared in all. In this way, the method of estimating the CoP trajectory based on Gaussian process regression showed robust results, and stability was confirmed by yielding similar results in several gait cycles.

• PNF and Movement
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• 제20권3호
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• pp.431-441
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• 2022

Purpose: The purpose of this study was to compare the changes in the contact area, maximum pressure, maximum mean pressure, and maximum force of functional insoles and general insoles when walking. Methods: Foot pressure was measured by the ignition of functional insoles and general insoles on Company N shoes. The foot pressure was measured using a precision pressure distribution meter (Pedar - X mobile system, Novel, Germany). Each insole sensor contained 99 independent cells and was inserted between the foot and the shoe. A wireless Bluetooth-type program was used to measure the pressure detected by the measuring insoles. In order to eliminate adaptation and fatigue caused by wearing the guide during the experiment, sufficient rest was taken between each experiment, and the wearing order was randomly selected. Results: Functional insole significantly increased the forefoot and midfoot (medial, lateral) (p<0.05), while total foot, forefoot, and rearfoot peak pressure significantly decreased (p < 0.05) compared to the general insole. Conclusion: In the functional insole, a high contact area was measured inside, even in the middle of the foot, leading to a proper change in foot pressure. It was confirmed that the contact area was reduced and dispersion occurred well. In addition, it was found that the maximum pressure in the front and back of the entire foot was reduced, so the weight pressure dispersion in the functional insole was evenly distributed, and the maximum average pressure change was similar.

• Composites Research
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• 제34권3호
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• pp.161-166
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• 2021

본 연구에서는 당뇨병 환자들의 균일한 족압 분포를 유도하여 발의 상처를 예방하는 신발을 개발하기 위한 연구방법을 제시하였다. 직교 그리드 센서를 사용하여 일반인의 직립 상태 시 족압 분포를 확인하고, 다양한 조건에 대한 족압분포의 변화를 비교하였다. 신발 바닥부에 삽입된 스프링의 스프링 상수와 인솔의 아치부 유무 등에 따른 족압 분포의 변화를 파악하여 효과적인 족압 분산 조건을 확인하였다. 인체거동의 임의성 등에 의한 실험 오차를 최소화 하기 위해, 직립 상태를 모사한 유한요소해석을 통해 특정 조건에서의 족압 분포를 예측하고 실험 결과와 비교하여 실험의 정확성을 확보할 수 있도록 하였다. 스프링의 개수와 배치에 따른 족압 분포의 변화를 유한요소해석을 통해 확인하여 보다 균일한 족압을 구현할 수 있는 조건을 제시하였다. 이러한 결과는 당뇨발을 가진 환자를 위한 신발 설계에 활용할 수 있을 것으로 기대된다.