• 한국체육학회지인문사회과학편
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• v.58 no.6
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• pp.449-459
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• 2019

The purpose of this study is to identify how postural mechanics affects postural control on balance and stability by using frequency analysis technique from the kinematic data acquired during the one leg standing posture. For this purpose, the experimental group consisted of two groups, the normal group (n=6) and the national Gymnastics group (n=6). Displacement data of CoP were analyzed by frequency analysis of rambling (RM) and trembling (TR) by FFT signal processing. As a results, there was a significant difference in evaluating the stabilization index between the two groups with the eyes open and closed one leg stnading (p <.05). The cause of the difference was found to be the output of the maximum amplitude of RM (f1) and TR (f2) (p <.05). In particular, in the low frequency RM of 8-9 Hz, which is a natural frequency of signal wave involved in postural feedback feedback, the main frequency appeared to be performs the exercise mechanism of stable brain posture control. And in the high frequency TM of 120-135 Hz, it is considered that the adaptation of the reflective muscle response is minimized to minimize posture shaking. In conclusion, this study provides evidence for the intrinsic main frequencies according to the postural control ability which affects the CNS in one leg standing.

• Journal of Korean Physical Therapy Science
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• v.15 no.1
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• pp.47-56
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• 2008

The purpose of this study was to seek for a performance level of functional independence of the long term care elderly people. This study questionnaires 160 elders with 80 in a large city and 80 in small－to－medium sized city in order to find out the functional independence of elderly people. The results of this study were as follows. 1. Functional independence level following health factor; The comparison of degrees of functional independence level between two groups showed significant difference in sanitation, drinking and smoking, eating habit, chronic disease, physical activities, and regular physical examination(P<.05). But the comparison between two groups was not showed significant difference in present treatment, regular exercise. 2. Functional independence level following Psychological factor; The comparison of degrees of functional independence level between two groups showed significant difference in health evaluation(P<.05). But the comparison between two groups was not showed significant difference in quality of life. In conclusion it is needed that stable housing, much physical activities, and diversified family members should be realized and stable livelihood security recipients to maintain and improve health of the aged and to be socially satisfied.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.171-176
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• 2013

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.551-558
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• 2008

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.1-10
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• 1996

There are many challenging problems in mobile robot navigation. As an example, a mobile robot may wander around in local minimum and may wiggle when it moves through a narrow corridor. In addition, the real time obstacle avoidance and the posture control of mobile robot are also very improtant problems. To address these problems, a navigation algorithm which is composed o freal time obstacle avoidance algorithm and a global path planner (GPP) that genrates the shortest path is presented. In this paper, the global path planner reduce the calculation time by reducing the dta to be handled. Also it can make a real time obstacle avoidance by using the fuzzy logic inference. So the presented algorithm provide a stable navigastion for the mobile robot when it fall into the unstable navigation.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2473-2475
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• 2001

In trajectory tracking methods, the error values of current position and velocity are compensated to follow the given reference path and velocity. The path tracking for a wheeled mobile robot is treated in this paper. It is very difficult to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. This velocity controller is designed by a PID controller which could be easily employed. In this case, velocity errors caused by system uncertainties or internal and external disturbances could exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. Simulation results show the effectiveness of the proposed controller.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.28 no.2
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• pp.7-14
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• 2022

Purposed: This study was conducted to find out by ultrasonic waves the thickness change of the deep abdominal muscles, such as transverse abdominal, internal oblique and external oblique when performing general bridge exercise on the stable surface (GBE), single-legged bridge exercise on the stable surface (BES), bridge exercise with a sling (SBE) and single-legged bridge exercise with a sling (SBS). Methods: The subject, 33 healthy adults(18 men and 15 women) in their 20s of V university in J city were subjected to take four postures of GBE, BES, SBE, and SBS. When performing each posture, the thickness of transverse abdominal, internal oblique and external oblique were measured by ultrasonic waves and analyzed by repeated measures of ANOVA. This significance level was set to be p<.05. Results: Muscle thickness was increased in the order of BES, SBE, and GBE in the external oblique, resulting in statistically significant differences(p<.001). The internal oblique was significantly thicker in SBE and SBS rather than in GBE, and was thicker in SBE and SBS rather than in BES (p<.01). The thickness of the transverse abdominal was significantly increased in SBS than in GBE (p<.01). Conclusion: As the result, it may be more effective for the trunk stabilization exercises to activate the internal oblique and transverse abdominal by applying both-legged or single-legged bridge exercise in slings.

• Journal of the Korean Society of Costume
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• v.57 no.6 s.115
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• pp.1-16
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• 2007

The study aimed to develop the nightgown considering the construction and design features of the Shimui and the Cheolik. The analysis on the construction features of the Korean traditional costume and the physiological and motional attributes while sleeping resulted into the construction factors of the nightgown developed in the study. Consequently, the nightgown having these traditional Korean costume features were made for the evaluation. 4 different types of nightgowns were designed to be constructed. 20 professional clothing staff evaluated these 4 nightgowns developed and the existing nightgown used in the hotel industry. The results from the wearing test evaluation were: (1) to consider the stable closure of the gowns while wearing, the scores of the gowns developed were higher than the existing one. (2) the evaluations of the wearing comfort of the standing posture for the gowns developed and the existed were more or less similar but considering the lying down posture, the scores of the developed ones were significantly higher. (3) the gowns developed to have the wide-ham lines were considered more appropriate to the leg movement compared to the existing gown. The results from the fit and appearance test evaluation were: (1) throughout the all hight levels, the means of the gowns developed were higher than the existing gown's means in the most of the evaluation questions. (2) in the evaluation of the Korean traditional features, the gowns developed were more appropriate than the existing one. Consequently, the gowns developed were considered better to compare to the existing one in the context of postures, movements, comfort, appearance, fit, and design features.