• 한국정밀공학회지
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• 제17권3호
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• pp.83-91
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• 2000

During static walking of a quadruped walking robot, stability of the robot depends on whether the projection of the mass center is located within the supporting area that is varying with leg motion and formed by standing legs. In this paper, force margin instead of the mass center was used to determine stability and body-tilting method was used to enhance it. On-line control of body tilting was realized with simple reaction feedback based on force margin of the static walking model of the robot instead of complicated calculation. Model reference on-line control where the model searches stable pose for predefined force margin also gave good walking performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• KIEAE Journal
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• 제12권3호
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• pp.69-75
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• 2012

Developing reliable measures of the environment is important to increase our understanding of the environmental effects on walking among seniors. As a preliminary study for developing an instrument for measuring walkability of seniors' environment, the purpose of this study are to identify important assessment indicators associated with seniors' walking and to test their reliability using inter-rater and intra-rater reliability methods. A set of assessment indicators was identified through literature review, and field studies by trained raters were conducted in three senior centers located in Seongnam area in order to test reliability of the audit tool. The results indicated high percent agreement for most indicators and overall 91.6% and 86.1% of items assessed had good or medium inter-rater and intra-rater reliability, respectively. The reliable assessment indicators would provide reliable data for use in community-based audits of built environment in relation to walking among older adults. The findings showed that the indicators of aesthetics had lower reliability compare to safety, convenience, and access. Rater training with various images would improve rater agreement while reduce rater bias.

• 한국지리정보학회지
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• 제15권2호
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• pp.150-160
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• 2012

본 연구의 목적은 경상남도 창원시에 위치한 20개 초등학교 주변 물리적 환경과 보행안전 및 교통사고 위험도와의 상호관련성을 분석하는 것이다. 현장조사는 가로 수준의 객관적, 주관적 보행환경을 평가하기 위해서 실시하였고, GIS 기법은 근린생활권 수준의 토지이용 패턴을 분석하기 위해서 사용하였다. 보행안전 및 교통사고 위험도에 관련된 자료는 18개 초등학교의 5~6학년 6,381명을 대상으로 한 설문조사를 통하여 수집하였다. 상관분석에 따르면, 가로 수준의 보도 위 영구적 장애물, 차량 진 출입구, 조명시설, 교통안전표지, 그리고 근린생활권 수준의 단독주택 및 도로면적율 등은 보행안전 또는 교통사고 위험도와 높은 상관성을 가지는 것으로 분석되었다. 향후 본 연구는 안전한 통학로와 보행친화적인 건강한 커뮤니티를 조성하는데 활용 가능할 것으로 판단된다.

• 대한간호학회지
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• 제26권2호
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• pp.271-280
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• 1996

The purpose of this study was to determine the effect of periodic walking during hindlimb suspension on the mass, relative weight, fiber type distribution and cross-sectional area of Type I and II fibers in the developing Type II plantaris muscle. To examine the effectiveness of periodic walking on mass and fiber size, the hindlimbs of young female Wistar rats were suspended (HS group) and half of these rats walked on a treadmill for 45 min／day(15 min every 4 hours) at 5 meters／min at a 15 degree grade(HS-W group) After seven days of hindlimb suspension, the plantaris muscle wet weight was 28.40％ significantly smaller（P＜0.005） and relative plantaris muscle weight was 26.97％ smaller compared with those of control rats（P＜0.05）. The plantaris muscle wet weight and the relative plantaris muscle weight increased by 46.60％ and 49.23％ respectively with periodic walking, moreover. the plantaris muscle wet weight and the relative plantaris muscle weight of the HS-W rats recovered to the level of the control rats. No change was observed in fiber type percentage of the developing plantaris muscle following one week of hindlimb suspension or periodic walking during hindlimb suspension. Type I and II fiber cross-sectional areas of the developing plantaris muscle were 42.51％ and 43. 68％ lower in the HS group than in the control group（p＜0.0001）, Type I and II fiber cross-sectional areas of the developing plantaris were 30.82％ and 45.97％ greater in the HS-W group than in the HS group（p＜0.0001）, whereas Type I and II fiber cross-sectional area of HS-W group were less than those of the control group（P＜0.0001） The results suggest that periodic walking can attenuate developing plantaris muscle atrophy induced by hindlimb suspension.

• 한방재활의학과학회지
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• 제26권3호
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• pp.109-117
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• 2016

Objectives The purpose of this study was to investigate the correlation between walking ability of lumbar spinal stenosis patients and the cross-sectional area (CSA) of lumbar paraspinal muscles. Methods This study was carried out on 62 lumbar spinal stenosis patients who had limited walking abilities because of neurogenic claudication (NC). All patients received more than 2 weeks of complex treatment at Mokhuri Neck&Back Hospital. CSA of lumbar paraspinal muscles was measured from axial T2-weighted MRI and divided by CSA of adjacent vertebral body to avoid influence of body statues (RCSA-Relative CSA). Pain Free Walking Distance and Numerical Rating Scale (NRS) was measured before and after treatment. Results The Pain Free Walking Distance had significantly increased in patients who had bigger RCSA of psoas muscle (r=0.313, p<0.05). Conclusions The psoas muscle can be a predictive factor for restoring walking ability of lumbar spinal stenosis patients who have limitations walking.

• 보건교육건강증진학회지
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• 제28권4호
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• pp.63-77
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• 2011

Objectives: This study identifies the meaning of walking and its facilitating factors and barriers from the perspective of urban walkers in Seoul. Methods: The participants consisted of twelve people who either lived or worked in Gangnam district of Seoul. The study applied the data collection process featured in the photovoice, in which the participants took photographs and shared their stories through focus group interviews. Results: Walking is regarded as one of the easiest types of physical activity. While walking, participants find mental tranquility, communication opportunities, and a chance to step back from their everyday lives. Facilitating factors include: access to walking-friendly venues and attractive surrounding environments; the participant's assimilation into the surrounding area; having the feeling of ease and relaxation; and friends and family to walk together. Barriers consist of physical factors such as street design and the busy urban streets, insensitive traffic and low civic awareness, and personal situational factors. Conclusions: The benefit of walking exceeds beyond those of physical health promotion. Actions to encourage walking in urban areas should address the multiple meanings perceived by their citizens.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권6호
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.459-465
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• 2019

There is an increasing interest in health and research on methods for measuring human body information. The importance of continuously observing information such as the step change and the walking speed is increasing. At a person's gait, information about the disease and the currently weakened area can be known. In this paper, gait is measured using wearable walking module built in shoes. We want to make continuous measurement possible by simplifying gait measurement method. This module is designed to receive information of gyro sensor and acceleration sensor. The designed module is capable of WiFi communication and the collected walking information is stored in the server. The information stored in the server is corrected by integrating the acceleration sensor and the gyro sensor value. A band-pass filter was used to reduce the error. This data is categorized by the Gait Finder into walking and waiting states. When walking, each step is divided and stored separately for analysis.

• 한국산학기술학회논문지
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• 제19권8호
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• pp.230-238
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• 2018

본 연구는 울산광역시 노인에 대해 구군별 공원 형태와 공원내부 요소들이 실외에서 얼마나 자주 나와서 걷는지에 대한 걷기 일 수에 미치는 영향을 검증하여, 울산광역시 노인 건강증진을 위한 도시개발 및 물리적 환경개선과 발전에 대한 정책적 제언을 하는 것에 목적이 있다. 지역사회건강조사 2015년 원시데이터를 이용하여 울산광역시의 65세 이상 노인 1,274명을 대상자로 선정하였다. 울산광역시 5개 구군에 따른 지역 수준 요인 변수가 걷기 일 수에 영향을 미치는 요인을 파악하기 위하여 위계적 선형 모형으로 다수준 분석을 시행하였다. 노인의 걷기 일 수에 영향을 미치는 지역 수준 요인은 체육시설이 많으면 걷기 일 수가 증가하였고, 어린이가 주로 이용하는 유희시설이 많으면 노인의 걷기 일 수가 감소하였다. 울산광역시 내에서 중구의 경우는 공원 개수와 공원 면적이 많음에도 걷기 일 수가 낮았고, 북구의 경우는 공원 개수와 공원 면적이 적음에도 걷기 일 수가 높았다. 울산광역시 중구의 노인은 걷기 촉진을 위한 건강증진 사업이 필요할 것으로 생각되며, 울산광역시 북구의 노인은 걷기 좋은 환경을 만들어주는 것이 필요할 것으로 생각된다.