• Journal of Biomedical Engineering Research
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• v.8 no.1
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• pp.49-56
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• 1987

This paper designed LOCOMOTION SYSTEM of a mobile robot for the blind guidance and LOCOMOTION COMMAND SYSTEM that gave the moving path to the locomotion system. This system analyzed COMMAND and calculated the speed and direction of the robot. And during locomotion it measured wheel's rotation number for the position and speed control. Also, this system was considered about the 110 interface with host computer and the locomotion method for the blind. In the locomotion experiment the standard speed of robot was 0.4m/sec and the locomotion error was below 5%

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.188-202
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• 2004

This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.79-82
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• 1987

This paper describes the mobile robot system to recognize the guidance tape, and presents the locomotion algorithm. It is composed of image processing unit, A/ID converter and camera. This system converts video image to binary image by setting an optimal threshold and obtains the parameters to move the robot. The mobile robot moves according to the programmed route in memory. But after recognized the obstacle on the locomotion route, this system constructs the new route and the robot moves following the new route.

• Journal of Magnetics
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• v.21 no.4
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• pp.616-621
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• 2016

This paper presents a new multifunctional active guidewire system for medical applications that uses a magnetic microrobot. The study demonstrated that the proposed microrobot system could swim and be controlled under Low-Reynolds-number (Re) environments in blood vessel models. The prototype of the robotic guidewire, which is driven within a three-axis Helmholtz coil system, consists of a guide-wire, spiral blade, drilling tip, and permanent magnet. The spiral-type microrobot showed stable active locomotion between 3 kA/m and 9.1 kA/m under driving frequency up to 70 Hz in a silicone oil (of viscosity 1000 cst). The microrobot produced a maximum moving velocity of $8.08{\times}10^{-3}m/s$ at 70 Hz and 9.1 kA/m. In particular, the robotic guidewire produced 3D locomotion with drilling in the three-axis Helmholtz coil system. We verified active locomotion, towing of guidewire, steering, and drilling of the proposed robotic guidewire system through experimental analyses.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.203-209
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• 2009

The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM) $-20{\sim}15$ degrees (dorsiflexion as positive) which covers the ankle ROM of both stroke patients and normal subjects during locomotion. The error was the smallest with the sensor at the position 1 which was the nearest position to the ankle joint. In case of human experiment, the RMS (root mean square) errors were $0.51{\pm}1.78(0.31{\sim}0.64)$ degrees and the maximum errors were $1.19{\pm}0.46(0.68{\sim}1.58)$ degrees. The proposed system is less constraint and cosmetically better than the existing angle measurement system because the wires are not needed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.799-807
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• 2014

This paper describes the development of an indoor locomotion assistive robot, Ball-Chair, comprising a novel drive system. This robot facilitates locomotion assistive operation in narrow spaces, in which common wheelchairs cannot move easily. The Ball-Chair has two main features: its structural feature and driving mechanism. The exoskeleton frames of the Ball-Chair have been designed with octagonal shapes resembling a circle, for minimizing its volume and weight. Additionally, all its driving parts (including the ball) are mounted within of the robot to enhance its safety. The Ball-Chair features a reverse ball-mouse driving mechanism comprising two driving omni-wheels in the x- and y-axes. By controlling the speed of each omni-wheel, a holonomic driving system that can facilitate omnidirectional locomotion has been achieved using only two wheels. The effective movement of the Ball-Chair in any direction within narrow indoor spaces was experimentally verified. The paper outlines the development procedure in detail.

• Asia Marketing Journal
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• v.15 no.2
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• pp.175-194
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• 2013

The purpose of this study is to investigate the effects of the locomotion orientation on salespeople' sales performance with the mediating effect of selling behavior(adaptive selling behavior, SOCO). And we figure out the relationship between customer-oriented selling behavior and adaptive selling behavior because those relationships are not clear. The authors infer research hypotheses based on literature review. We have confirmed the reliability and validity test and those results can be acceptable. Hypotheses test were conducted with structural equation modeling, AMOS. All paths in the research model reasoned by authors have been supported statistically at the significant level. This study with the theoretical implications is as follows. First, this study is the first attempt to investigate the path between locomotion orientation and adaptive selling behavior and SOCO. Secondly, there is an empirical conflict between our study and Franke and Park(2006)'s study. Our study was contradictory to Franke and Park(2006)'s consequences. And so, figuring out clearly those causal paths remains. This study with practical implications are as follows. First of all, the salespeople' selling performance was affected by adaptive selling behavior, customer-oriented selling behavior, and sales-oriented activities, such as the importance of selling behavior once again proven. It is necessary to enhance the capabilities that can be transformed into action appropriate to the needs of customers each sales step-by-step in the process of salespeople for various system through education and incentives, and to interact with customers and understand their customers relative to salespeople will. In order to enhance adaptive selling behavior, the company needs to do educational program and monitoring system with the positional promotion when salespeople get the high adaptive selling behavior. Secondly, the locomotion orientation of the salespeople is to cause this selling behavior. Management style to increase locomotion orientation is needed, which means, salespeople' superior about something should be conducted. In order to stimulate the selling behavior of the salespeople, most supervisors should use some managerial tools such as feedback, engagement, and rewards.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1260-1263
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• 1987

This paper describes the mobile robot system to recognize the guidance tape, and presents the locomotion algorithm. This system converts video imago to binary image by setting an optimal threshold and obtains the parameters to move the robot. The mobile robot moves according to the programmed route in memory. But after recognized the obstacle on the locomotion routs, this system constructs the new route and the robot moves following the new route.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1638-1644
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• 2002

A novel locomotion using the pneumatic impulsive actuator was proposed for robotic colonoscope. This locomotion showed good moving performance in the environment of rigid pipe, however, the displacement per one impact(step displacement) is greatly reduced due to the low stiffness and high damping characteristics of the colon. Therefore, the modeling technique based on spring and damping system is studied to predict the step displacement and some parametric studies are carried out to investigate main parameters that influence the step displacement of locomotion. Based on simulation result, a new locomotion to control the resistance force is suggested and fabricated. Through the experiment on the colon, the usefulness of modeling technique is confirmed and successful improvement of moving characteristics is achieved.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.311-314
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• 1995

Biped locomotion can be simply modeled as a linear inverted pendulum mode. This model considers only the CG (center of gravity) of the entire system. But in real biped robot systems, the free-leg motion dynamics is not negligible. So if its dynamics is not considered in designing the reference CG motion, it is badly influence to the ZMP(zero moment point) position of the biped robot walking in the sagittal plane. Therefore, we modeled the biped locomotion similar to the linear inverted pendulum mode but considered the predetermined free-leg dynamics. To verify that the proposed biped locomotion is more stable than the linear inverted pendulum mode, we constructed a biped robot simulator and designed a serco controller to track both the reference motion of the free leg and the reference motion of CG of the biped robot using the computed torque control low. And through simulations, we verified that the proposed walking is better in stability than the one based on the linear inverted pendulum mode.