• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• Spatial Information Research
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• v.19 no.1
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• pp.83-91
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• 2011

The route finding analysis is an essential geo-related decision support tool in a LBS(Location based Services) and previous researches related to route guidance have been mainly focused on route guidances for vehicles. However, due to the recent spread of personal computing devices such as PDA, PMP and smart phone, route guidance for pedestrians have been increasingly in demand. The pedestrian route guidance is different from vehicle route guidance because pedestrians are affected more surrounding environment than vehicles. Therefore, pedestrian path finding needs considerations of factors affecting walking. This paper aimed to extract factors affecting walking and charting the factors for application factors affecting walking to pedestrian path finding. In this paper, we found various factors about environment of road for pedestrian and extract the factors affecting walking. Factors affecting walking consist of 4 categories traffic, sidewalk, network, safety facility. We calculated weights about each factor using analytic hierarchy process (AHP). Based on weights we calculated scores about each factor's attribute. The weight is maximum score of factor. These scores of factor are used to optimal pedestrian path finding as path finding cost with distance, accessibility.

• The Journal of Korean Physical Therapy
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• v.28 no.3
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• pp.176-182
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• 2016

Purpose: To investigate the effect of treadmill training applied simultaneously with gait related action observation on walking ability in chronic stroke patients. Methods: Sixteen chronic stroke patients participated in this study. Participants were randomly allocated into either the treadmill applied simultaneously with action observation training group (TAG) or treadmill applied simultaneously with landscape observation training group (TLG). The participants in both group underwent treadmill training for four weeks (a total of twelve minute, once a day, three times weekly for a four week period). All participants were measured to gait speed (10 m walking test, 10 MWT), gait endurance (6 minute walk distance, 6 MWD), dynamic gait index (DGI). In order to assure the statistical significance of the results, we used for SPSS 15.0 for windows. The Wilcoxon signed ranks test was used to compare pre-test and post-test result, and the Mann-Whitney U-test was employed for comparison between groups. Results: The 10 MWT, 6 MWD, DGI was significantly different between the TAG and the TLG group. Conclusion: According the results of this study, treadmill applied simultaneously with action observation (TAG) is effective intervention for improvement of walking ability in chronic stroke patient.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.3
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• pp.1840-1848
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• 2019

Background : There is lack of studies on the effects of the bag-carrying style on the shoulder muscles and body alignment in adults with rounded shoulder posture (RSP). Objective: The purpose of this study was to investigate the effects of various bag-carrying styles on muscle tone, muscle stiffness and spinal alignment in 20 adults with RSP as they were walking on a treadmill. Design : Crossover Study Design. Methods: A subject performed treadmill walking for 15 minutes at a speed of 4 ㎞/ｈ while carrying three different types of bags: a backpack, a cross bag, and a shoulder bag. Results : The results showed that the main effect of timing was observed in the muscle tone for all the variables and in muscle stiffness only for the upper and lower trapezius muscles. As for the main effect of timing, the muscle tone of the upper trapezius and the pectoralis major significantly increased in all conditions, while the muscle tone of the lower trapezius significantly decreased in all conditions. The muscle stiffness of the upper trapezius significantly increased in all conditions, while the muscle stiffness of the lower trapezius significantly decreased in all conditions. As for the spinal alignment, the dimple distance data values significantly decreased for the cross-bag style. Conclusions : This study demonstrated that walking with a heavy bag, regardless of the bag-carrying style, increased muscle stiffness around the shoulders in adults with rounded shoulder posture, and walking with a cross-bag also induced changes in spinal alignment.

• Korean Journal of Applied Biomechanics
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• v.29 no.1
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• pp.15-21
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• 2019

Objective: The purpose of this study was to investigate the effects of aqua-noodles on the practice of underwater walking in patients with hemiplegia. Method: After an oral explanation and signing an IRB approved consent form 10 participants ($66.8{\pm}10.75yr$, $165.3{\pm}8.79cm$, $73.6{\pm}46kg$) agreed to participate in this study. Each of the participants was required to walk with the aqua noodles and without the aqua-noodles in a swimming pool. Each participant was asked to walk a distance of 5 m a total of 10 times, 5 with and 5 without the aqua-noodles. The depth of the swimming pool was at 1.3 m, approximately chest height. The following variables were calculated for analysis; height of the knee (m), knee joint ROM ($^{\circ}$), ankle joint ROM ($^{\circ}$), knee joint maximum angular velocity ($^{\circ}/sec$), and ankle joint maximum angular velocity ($^{\circ}/sec$). Results: First, there was a significant increase in time (s) for the maximum knee height to reach as well as the maximum knee height (m) increased when the participant used the aqua-noodles. Second, there was a statistically significant decrease in stride length when the aqua-noodles were used. Conclusion: This study helps to verify that the effect of underwater walking exercise can provide a suitable walking exercise environment. The results of this study provide systematic scientific information about how walking in water can be used for the rehabilitation of patients and the elderly.

• Journal of Korean Society of Transportation
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• v.9 no.1
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• pp.29-46
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• 1991

The purpose of this study is to develop a parking behavior model in prior step for solv-ing parking problems in Pusan C. B. D. The results of this study are as follows; In the C. B. D of Pusan the peak parking time is between 2 and 3 o'clock P. M., and the average parking duration is 237 minutes. It means the use of parking lots is very ineffi-cient. Hence in order to shorten the parking duration, it is very urgent for drivers to chan-ge parking attitude. The walking distance from the parking lots to his destination is below 300∼500m, so the establishment of parking areas and the arrangement of parking lots in C. B. D should be planned on the base of the above walking distance. The model distinguishing between legal and illegal parking behaviors is derived from the binary decision model. The selected model has the correlation rate, η2=0.505 which is relatively high value This result shows that the detetminating judgement on the legal and illegal parking behavior is influenced mutually such factors as driver's occupation parking purpose monthly income distance to his destination averaged parking duration and age.

• Asian-Australasian Journal of Animal Sciences
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• v.15 no.5
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• pp.745-750
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• 2002

The effects of recording interval (1, 2, 3, 4, 5, 10, 15, 20 and 30 min) on the estimation of some grazing behavior variables in beef cows and calves (<4 months old) were investigated in a daytime grazing (7 h) system utilizing a bahiagrass (Paspalum notatum Flugge) pasture (a 1.1 ha paddock and a 0.4 ha resting area). Recording intervals of 10-30 min tended to underestimate the time spent grazing and ruminating and overestimate the time spent resting by animals, whereas intervals of 1-5 min resulted in almost constant estimates. In all grazing activities, the errors of estimation became larger when the recording interval exceeded 5 min. The accuracy of estimation was higher for grazing time>rumination time>resting time. An increase in recording interval always decreased estimates of the distance walked by animals. It was concluded that recording intervals of 1-5 min provide reliable estimates of the time spent grazing, ruminating and resting. It was also concluded that positioning of animals at 1 min intervals may provide estimates of walking distance with acceptable bias toward underestimation.

• The Korean Journal of Pain
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• v.33 no.3
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• pp.226-233
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• 2020

Background: We aimed to compare interlaminar epidural steroid injections (ILESI) and bilateral transforaminal epidural steroid injections (TFESI) on pain intensity, functional status, depression, walking distance, and the neuropathic component in patients with lumbar central spinal stenosis (LCSS). Methods: The patients were divided into either the ILESI or the bilateral TFESI groups. Prime outcome measures include the numerical rating scale (NRS), Oswestry disability index (ODI), Beck depression inventory (BDI), and pain-free walking distance. The douleur neuropathique en 4 questions score was used as a secondary outcome measure. Results: A total of 72 patients were finally included. NRS, ODI, and BDI scores showed a significant decline in both groups in all follow-ups. Third-month NRS scores were significantly lower in the ILESI group (P = 0.047). The percentages of decrease in the ODI and BDI scores between the baseline and the third week and third month were significantly higher in the ILESI group (P = 0.017, P = 0.001 and P = 0.048, P = 0.030, respectively). Pain-free walking distance percentages from the baseline to the third week and third month were significantly higher in the ILESI group (P = 0.036, P < 0.001). The proportion of patients with neuropathic pain in the bilateral TFESI group significantly decreased in the third week compared to the baseline (P = 0.020). Conclusions: Both ILESI and TFESI are reliable treatment options for LCSS. ILESI might be preferred because of easier application and more effectiveness. However, TFESI might be a better option in patients with more prominent neuropathic pain.

• Physical Therapy Rehabilitation Science
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• v.3 no.2
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• pp.134-141
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• 2014

Objective: The purpose of this study was to compare with different distance across three conditions in stroke survivors with the grading of cognitive state. Design: Cross-sectional study. Methods: Twelve stroke patients who agreed to active participation were included. Participants were allotted to normal cognitive (CN) group (n=7) and cognitive impairment (CI) group (n=5) and then walked on a self-paced walkway at three conditions on the Time Up and Go (TUG) test and the 6 minute walk test (6MWT): 1) walking with your comfortable speed, 2) walking while carrying a tray with glasses, 3) walking with a verbal cognitive task. The TUG test was repeated three successful times on each condition. For the 6MWT, participants were tested one time. Results: The CI group walked slower than the CN group at the three conditions on the TUG test. However, there was no significant difference between two groups to each condition. A significant effect of dual tasking was found only in error of verbal cognitive task condition for the TUG test (p<0.05). On the 6MWT, the participants in the CI group walked short distance rather than the CN group (p<0.05). There were significant differences between two groups not only at all conditions but also at error of verbal cognitive task condition as well (p<0.05). Conclusions: To consider the results of different distances such as the TUG test and the 6MWT, we think that exercises in long distance would be more effective to patients with CI. Those would be improved patient's endurance in cognitive problem.

• Journal of the Korean Society for Railway
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• v.11 no.5
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• pp.504-512
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• 2008

In general, based on criteria of subway law, radius 500m from subway station is defined as SIA (Subway Station Influence Area). Therefore, in this paper, selection models of SIA are developed to identify appropriate SIA for specific legions in Seoul metropolitan city based on CHAID analysis. As a result, following outputs are obtained; (1) walking distance from subway station is the most influential factor to define SIA (2) SIAs vary with regions (i. e. Gangnam area: 767m, Gangbuk area: 452m), and (3) walking distance from subway station is influential to land price of SIA. In addition, in Gangnam, the structure of land price of the closest section has a polynomial trend curve rather than linear compared in comparison with other sections. Therefore, it is desirable for current definition of SIA (radius 500m from subway station) to be redefined to reflect characteristics of land use and walking distance according to each region respectively.