• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.954-962
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• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• 로봇학회논문지
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• 제16권2호
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• 교육시설 논문지
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• 제25권6호
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• pp.21-28
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• 2018

To compare the physical quantity of students circulation along the moving path during recess of a variation type operation middle school, five points were actually observed. The flow coefficient for these points was calculated, and the change in flow coefficient was verified and tracked over time. During the operation of the classroom, the characteristics of crowdedness and congestion time depending on the physical conditions of the frequently moved paths were shown. Even in the same corridor, the difference between the flow coefficient and the congestion time of the corridor facing the open space and the blocked space was noticeably different. As a result, detailed factors such as free walking speed, the degree of freedom of passing and the possibility of collision were also identified. This means that detailed countermeasures for the student's path should be considered first when planning the moving space of a variation type school, and identifying the characteristics of these factors could be used as useful basic materials for developing various models of classroom space.

• 대한간호학회지
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• 제48권6호
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• pp.743-753
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• 2018

Purpose: This study aimed to explore the effects of a community-based first and third Intergenerational Exchange Program (IGEP) on older adults' health-related quality of life (HRQoL), loneliness, depression, and walking speed, and on 4~5-year-old preschool children's learning-related social skills. Methods: This study employed a non-equivalent control group pre-post-test design. The experimental group included 42 older adults and 42 children who participated in the IGEP for 8 weeks, and the control group included 39 older adults. The experimental group participated in the IGEP once a week for 8 weeks. It comprised a traditional play program based on the intergroup contact theory. Results: Compared to the control group, there was a significant increase in scores on the HRQoL-Visual analogue scale (VAS) and a decrease in loneliness and depression in older adults in the experimental group (p<.05). Children who participated in the IGEP showed an improvement in their learning-related social skills (p<.001). Conclusion: These results confirm that the IGEP is an effective intervention to improve HRQoL-VAS, loneliness, and depression among older adults and learning-related social skills among preschool children in the community.

• 한국운동역학회지
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• 제29권1호
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• pp.9-13
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• 2019

Objective: The aim of this study was to compare gait patterns of elementary school male students in higher grades according to their character styles. Method: 4 extroverted character male subjects (height: $141.35{\pm}7.75cm$, weight: $43.65{\pm}5.80kg$) and 4 introverted character male subjects (height: $145.38{\pm}8.94cm$, weight: $42.15{\pm}10.71kg$) participated in this study. Results: As for walk styles of elementary school male students in higher grades according to their character patterns, there was not significant differences in gait cycle, stride width, stride length and walking speed. According to examination of average ratio of maximum vertical ground reaction force according to their characters divided by weight, elementary school male students in higher grades with extroverted character showed 114.69% of weight and students with introverted character showed 122.82% of weight, which exhibited that students with introverted character had larger ratio as much as 8.13% than students with extroverted character. The statistical significance level was 0.000 showing significant difference. Conclusion: Our results indicated that male students in higher grades with introverted character press ground hard and walk with strong steps. On the other hand, male students with extroverted character walk with light steps.

• 한국인터넷방송통신학회논문지
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• 제19권1호
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• pp.133-138
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• 2019

스마트폰을 이용한 실내 항법 시스템은 대형 실내 시설에서 사용자의 위치 기반 서비스를 위해 매우 중요한 기반 기술이다. 이를 위해서 스마트폰에 내장된 가속도 센서와 자이로 센서를 이용하여 사용자의 이동 거리와 방향을 추정할 수 있다면 추가적인 외부 환경이 필요 없으므로 매우 유용한 기술이 된다. 본 논문은 일반적인 스마트폰에 Pedestrian Dead Reckoning(PDR) 기술과 칼만 필터를 적용하여, 사용자가 스마트폰을 가슴 앞에 잡고서 이동하면서 위치를 추적하는 실내에서의 항법 시스템 기술에 관한 것이다. 특히 회전 방향각을 추정하기 위하여 확장 칼만 필터가 설계되었고 실험적으로 일정속도로 보행하는 경우에 그 성능이 검증되었다.

• 한국노년학
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• 제28권4호
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• pp.941-952
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• 2008

이 연구는 여성 농촌노인을 대상으로 레크리에이션 복합운동 프로그램을 적용하여 체력을 향상시키는데 그 목적이 있다. 이 연구 대상자는 규칙적으로 운동을 하지 않는 경기도 지역 Y시에 소재한 경로당 75세 이상의 여성 노인 20명을 대상으로 하였으며, 대상자의 연령은 75세 ~ 88세 범위(M=80.75, SD=3.22)였다. 레크리에이션 복합운동 프로그램은 1회 50분, 주 3회, 8주간 실시하였다. 연구결과 악력, 의자 앉았다 일어서기, 2.45m 돌아오기, 눈뜨고 한발서기, 앉아서 윗몸 앞으로 굽히기, 4.6m속보에서 유의하게 향상되었다. 따라서 레크리에이션 복합운동 프로그램이 여성 농촌노인의 체력을 향상시킬 수 있는 것으로 생각된다.

• 대한물리의학회지
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• 제16권3호
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• pp.21-27
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• 2021

PURPOSE: This study examined the relationship between the severity of a hallux valgus (HV) deformity and the kinetic three-dimensional ground reaction force (GRF) through a motion analysis system with force platforms in individuals with a HV deformity during normal speed walking. METHODS: The participants were 36 adults with a HV deformity. The participants were asked to walk on a 6 m walkway with 40 infrared reflective markers attached to their pelvic and lower extremities. A camera capture system and two force platforms were used to collect kinetic data during gait. A Vicon Nexus and Visual3D motion analysis software were used to calculate the kinetic GRF data. RESULTS: This research showed that the anterior maximal force that occurred in the terminal stance phase during gait had a negative correlation with the HV angle (r = -.762, p < .01). In addition, the HV angle showed a low negative correlation with the second vertical maximal force (r = .346, p < .05) and a moderate positive correlation with the late medial maximal force (r = .641, p < .01). CONCLUSION: A more severe HV deformity results in greater abnormal translation of the plantar pressure and a significantly reduced pressure force under the first metatarsophalangeal joint.

• 한국멀티미디어학회논문지
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• 제25권3호
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• pp.510-518
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• 2022

This paper confirmed the technical reliability of mobile-based sarcopenia prediction and monitoring system. In implementing the developed system, we designed using only sensors built into a smartphone without a separate external device. The prediction system predicts the possibility of sarcopenia without visiting a hospital by performing the SARC-F survey, the 5-time chair stand test, and the rapid tapping test. The Monitoring system tracks and analyzes the average walking speed in daily life to quickly detect the risk of sarcopenia. Through this, it is possible to rapid detection of undiagnosed risk of undiagnosed sarcopenia and initiate appropriate medical treatment. Through prediction and monitoring system, the user may predict and manage sarcopenia, and the developed system can have a positive effect on reducing medical demand and reducing medical costs. In addition, collected data is useful for the patient-doctor communication. Furthermore, the collected data can be used for learning data of artificial intelligence, contributing to medical artificial intelligence and e-health industry.

• The Journal of Korean Physical Therapy
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• 제34권6호
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• pp.326-331
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• 2022

Purpose: The stroke patients have gait dysfunction due to impaired neural tracts; corticospinal tract (CST), corticoreticular pathway (CRP), and vestibulospinal tract (VST). In this study, we investigated characteristics of gait pattern according to the injury aspect of the neural track in a stroke patient. Methods: One patient and six control subjects of similar age participated. A 19-year-old male patient with spontaneous intracerebral hemorrhage on right basal ganglia, thalamus, corona radiata and cerebral cortex due to arteriovenous malformation rupture. Diffusion tensor imaging (DTI) data was acquired 21 months after the stroke. Kinematic and spatio-temporal parameters of gait were collected using a three-dimensional gait analysis system. Results: On 21 months DTI, the CST and CRP in affected hemisphere showed severe injury, in contrast, the VST in affected hemisphere showed intact integrity. Result of gait analysis, walking distance and speed were significantly decreased in a patient. The stance rate of unaffected lower limb, the swing rate of affected lower limb and the duration of double stance significantly increased compared with normal control. The knee and hip joint angle were significantly decreased in a patient. Conclusion: We found recovered independent gait ability may be associated with unimpaired VST in a patient with severe injury in CST and CRP.