• 사물인터넷융복합논문지
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• 제4권2호
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• pp.7-11
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• 2018

본 논문에서는 기구학을 이용한 이족보행 로봇의 보행패턴 생성방법을 살펴본다. 2족 보행로봇이 3차원 공간상에서 모든 동작 및 보행이 가능하기 위해 필요한 자유도는 각 다리별로 6자유도이다. 따라서 본 논문에서는 로봇의 보행을 위해 간략화된 보행로봇의 구조를 살펴보고 발목의 경로를 설정한 후 기구학을 이용하여 조인트 각도를 파악하여 생성한다. 또한 로봇의 기구 해석을 위해 한쪽 다리의 조인트들에 대해 좌표계를 설정하였다. 조인트 각도를 역기구학을 이용하면 로봇의 보행 패턴을 생성할 수 있다. 최종적으로 발목의 궤적 설정과 이를 통한 보행 패턴 생성 과정을 살펴보기로 한다.

• 교육녹색환경연구
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• 제8권2호
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• pp.12-21
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• 2009

The purpose of this study is to suggest a scheme to provide children safer and more comfortable walking circumstances by survey current walking circumstances of school zone ways. First, to avoid pedestrian roads being interrupted and to expand waiting space near school zone ways, several measures are needed including fixing roads, using schools' unemployed spaces and building additional gateway. Second, pedestrian crossings in front of school gate should be located at least 23.16m away from the left side of the gate. Third, on narrow path which cross main streets, the interval of pedestrian signal should be extended as against of the moment. And traffic calming facilities should be built on accurate position. Fourth, to secure pedestrians' safety and field of view, trees lining streets and any obstacles located within 10m from bus stop sign should be removed. Finally, education system about school zone ways should be improved to help children get used to more complicated roads' conditions.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제21권1호
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• pp.67-76
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• 2015

Purpose : The current tactile walking surface indicators have not been easily accessible to blind and vision-impaired people due to unexpected variation of walking environment and walking behavior of transportation poor. Moreover, those indicators frequently cause the inconvenience to transportation users' walking. Thus, this study aims to investigate the improvement of tactile walking surface indicators, by comparing and analyzing findings from the relevant research. Results from this study contribute to suggest the better standard criteria of tactile walking surface indicators for transportation users, especially blind and vision-impaired people, the handicapped, the child and the elderly and weak, providing the secure and convenient circumstance for walking. Method : This study presents the problems about the standard criteria of tactile walking surface indicators via the examination of finding from the past studies. For example, we examine all standard criteria, focusing on shapes, colors and qualities of materials used for Tactile Walking Surface Indicators. Then, the present study suggests the improvement of standard, which apply to the current walking environment practically and reasonably. Results : To improve the current condition of tactile walking surface indicators, the analysis on international and domestic standard criteria need to be conducted. Findings from these analyses helps to suggest the better criteria for the interval between projecting points of tactile walking surface indicators, effective perceived range of walking road, and the brightness contrast between tactile walking surface indicators and finishing materials. Implication : The suggested standard criteria of tactile walking surface indicators need to be tested by transportation users, and the practical instructions of establishing tactile walking surface indicators should also be developed.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제21권1호
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• pp.57-66
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• 2015

Purpose : The guidelines of establishing convenience facilities for the handicapped have not consistently been provided to the identical criteria in walking facilities. Thus, transportation poor had difficulties in walking environment. Method : This study aims to suggest the practical direction of guidelines of establishing tactile walking surface indicators. To do this, this study examines the problems of the current guidelines for establishing facilities, and then analyzes international criteria, with comparing criteria used in German. Therefore, findings from those analyses can provide the secure and convenient environment for walking to transportation users, in particular blind and vision-impaired people, the handicapped, the child, and the elderly and the weak. Results : For the improvement of tactile walking surface indicators, the clear criteria of establishing tactile walking surface indicators is proposed, considering the characteristics of walking environment. Then, the sample items corresponding to the various situations need to be exemplified. To provide more secure environment walking for transportation poor, the establishing criteria partially adopted ideas from Universal Design also need to be developed. Implication : The proposed detail drawing of tactile walking surface indicators need to be tested by transportation users due to high safety in walking circumstance, and also the guidelines of continuously maintaining tactile walking surface indicators also needs to be studied.

• The Journal of Korean Physical Therapy
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• 제20권3호
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• pp.19-28
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• 2008

Purpose: We analyzed the incidence of falls and the related factors, circumstances, and consequences associated with falls in stroke patients. Methods: We recruited 127 stroke patients and used a self-reported questionnaire to measure fall prevalence rates and the related factors, circumstances, and consequences of falls. The chi-square test was used to establish associations between related factors. Results: The prevalence of falls in stroke patients was 69.3%, and was associated with gender and time since the stroke. Falls occurred 2-5 times (55.4%) poststroke and most subjects first fall in the 2$\sim$6 month (46.5%) after the stroke. Most (55%) falls occurred at the hospital. Walking was the most frequent circumstance for falls (38.5%). Most (54.4%) falls led to consequences such as fractures, ligament strains, bruises, or abrasions. Conclusion: Fall-prevention strategies decrease the number of falls and the severity of fall-related injuries. These data support the concept of preventive strategies for falls in stroke patients who are at risk.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.80-80
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• 2000

The GPS can provide accurate position information on the earth. But GPS receiver can't give position information inside buildings. DR(Dead-Reckoning) or INS(Inertial Navigation System) gives position information continuously indoors as well as outdoors, because they do not depend on the external navigation information. But in general, the inertial sensors severely suffer from their drift errors, the error of these navigation system increases with time. GPS and DR sensors can be integrated together with Kalman filter to overcome these problems. In this paper, we developed a personal navigation system which can be carried by person, using GPS and electronic pedometer. The person's footstep is detected by an accelerometer installed in vertical direction and the direction of movement is sensed by gyroscope and magnetic compass. In this case the step size is varying with person and changing with circumstance, so determining step size is the problem. In order to calculate the step size of detected footstep, the neural network method is used. The teaming pattern of the neural network is determined by human walking pattern data provided by 3-axis accelerometer and gyroscope. We can calculate person's location with displacement and heading from this information. And this neural network method that calculates step size gives more improved position information better than fixed step size.

• 한국의류산업학회지
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• 제17권6호
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• pp.881-894
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• 2015

The silver generation have clothing style of optimal daily life comparing than young generation because they do not participate a specific sport event but daily- life exercise. As the human body ages, the figure of the silver generation shows different body shape because upper body changes to curved figure including the belly and waist part. Therefore, clothing characteristics for the silver generation should be considered with proper function, design and textiles to optimize body movement. This study investigated various exercise types according to motion analysis of the silver generation in order to develop the design of the active T-shirts reflecting the structural properties and providing the optimum exercise circumstance. The results to consider design needs are as followed; As the T-shirts design for the flexible exercise which required frequent movement of upper body such as bending and waist twisting during body stretching, a stretch fabric applied to the waist part considering T-shirts allowance and length to make extreme elongation and support for well-fitting appearance of the T-shirts. As the T-shirts design for the instantaneous reactionary exercise, high elastic four-way stretch fabric is applied to the part of arm hole to optimize skeletal and muscle movement for entire body and arm work. As the T-shirts design for the endurance exercise such as climbing, cycling, and walking, the shoulder line of the back part has cutting line allowance to make optimum movement of the upper body but no change of the waist part.