• Journal of Korean Physical Therapy Science
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• v.4 no.1
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• pp.243-253
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• 1997

The purpose of this study was to determine the effect of systolic blood pressure, heart rate and myocardial oxygen consumption on 3-point nonweight bearing ambulation with axillary wooden crutch according to age. The subjects were fifty healty volunteers(22 male, 28 female), ages from 20 to 69(mean age of 43.8 years) with no history of cardiovascular or respiratory disease, diabetes mellitus, arthritis and orthopedic disorder within the past three years. This study was carried out from May 10 to August 10, 1996. The data were analyzed by percentage, mean and standard deviation and ANOVA. The results were as follows : 1. In systolic blood pressure(SBP), there was no significantly change between before walk and after 20 m in crutch walking with age, however, there did differ significantly after 40 m and 60 m in crutch walking(p<0.01, p<0.001). 2. In heat rate(HR), there was no significantly change between before walk and after 20 m, 40 m in crutch walking with age, however, there did differ significantly after 60 m in crutch walking(p<0.05). 3. In myocardial oxygen consumption($MVO_{2}$), there was no significantly change between before walk and after 20m in crutch walking with age, however, there did differ significantly after 40 m and 60 m in crutch walking(p<0.01, p<0.001). These result showed that cardiovascular system had a great effect on the olderly when 3-point nonweight bearing ambulation with axillary wooden crutch. Therefore, when train for axillary crutch in the olderly, we needed suitably basis of walking distance.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.353-358
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• 2011

This paper presents a virtual-legged walking model for bipedal robots and analyzes its fundamental RPY(Roll, Pitch, and Yaw) motion effects by simulation. For the purpose of identifying the motion effects of the bipedal walking, we assign some arbitrary trajectories both at the center of mass and at the center of pressure of the robot based on human walking. And then we verify the major moments to the roll, pitch, and yaw directions of the robot. As a result, it is shown that those motions are natural in the process of bipedal walking and they are deeply dependent on the step distance, the vertical level of the center of mass, and the acceleration of the robot. The importance of trajectory planning for the footstep location during a bipedal walking is finally addressed in terms of balance.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.2
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• pp.115-121
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• 2022

As city environments have recently become crowded, there are many obstacles that interfere with the walking of the visually impaired on pedestrian roads. Typical examples include ballads, parking breakers and standing signs, which usually do not get in the way, but blind people may be injured by collisions. To solve such a problem, many solutions have been proposed, but they are limited in applied in practical environments due to the several restrictions such as outside use only, inaccurate obstacle sensing and requirement of special devices. In this paper, we propose a new method to automatically detect obstacles while walking on the pedestrian roads and warn the collision risk in advance by using only sensors embedded in typical mobile phones. The proposed method supports the walking of the visually impaired by notifying the type of obstacles appearing in front of them as well as the distance remaining from the obstacles. To accomplish this goal, we utilized an object recognition technology applying the latest deep learning algorithms in order to identify the obstacles appeared in real-time videos. In addition, we also calculate the distance to the obstacles using the number of steps and the pedestrian's stride. Compared to the existing walking support technologies for the visually impaired, our proposed method ensures efficient and safe walking with only simple devices regardless of the places.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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• pp.1067-1075
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• 2002

The system error model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. The walking navigation system (WNS) that calculates navigation information through walking detection has small error than INS, but the error also increases with time. In order to improve reliability of the system regardless of time, WNS is integrated with GPS. Since WNS is usually used in urban area, the blockage of CPS signal is frequently occurred. Therefore tightly coupled Kalman filter is used for the integration of WNS and GPS. In this paper, the system model for the design of tightly coupled Kかm filter is designed and measurement is linearized in consideration of moving distance error. It is shown by Monte Carlo simulation that the error is bounded even through the number of visible satellite is less than 4.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.11
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• pp.2690-2701
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• 2013

Humans are able to recognize small number of people they know well by the way they walk. This ability represents basic motivation for using human gait as the means for biometric identification. Such biometric can be captured at public places from a distance without subject's collaboration, awareness or even consent. Although current approaches give encouraging results, we are still far from effective use in practical applications. In general, methods set various constraints to circumvent the influence factors like changes of view, walking speed, capture environment, clothing, footwear, object carrying, that have negative impact on recognition results. In this paper we investigate the influence of walking speed variation to different visual based gait recognition approaches and propose normalization based on geometric transformations, which mitigates its influence on recognition results. With the evaluation on MoBo gait dataset we demonstrate the benefits of using such normalization in combination with different types of gait recognition approaches.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.513-515
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• 2016

There are various walking devices based on Theo Jansen mechanism. And these systems controlled by complicate equations. So we decided to optimize the design of walking device with two points of view. The device is required to ensure stability while maintaining the high speed. To simplify the control system, we applied trigonometric ratio with ideal Jansen trajectory. As a result, we were able to draw the connection between height of barrier and Ground Length (GL). Also we could change traveling distance and Ground Angle Coefficient (GAC) by shifting the position of the joints. Through controlling these parameter, we can analyze stability and speed of the device. Ultimately, we develop the device that can walk more efficiently by the optimization process.

• The Journal of Korean Physical Therapy
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• v.25 no.2
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• pp.88-95
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• 2013

Purpose: The purpose of this study was to conduct an analysis of kinematics of lower extremities and trunk in stance phase of walking according to turning direction. Methods: Ten university students (five male, five female) who were in their 20s (mean age was 20.6 years old) participated in this study. Participants did not have participants did not have any problem with skeletal muscular system. We used the "Qualisys motion capture system" for analysis of trunk and lower extremity movement in stance phase of walking according to turning direction. We collected data while subjects walked a distance of 10 m, and at the 6 m line, subjects were required to turn to the left side and the right leg was positioned in stance phase and the left leg was positioned in swing. For data analysis, the SPSS for Windows ver. 20.0 statistics program was used in performance of one way analysis of variance according to turning direction. Results: Significant difference of trunk and lower extremities was observed for turning direction according to walking cycle (p<0.05). Upper trunk movement showed a greater increase at three dimensions than lower trunk, and in heel off phase, pelvic movement showed a greater increase than lower trunk (p<0.05). In 45 degree and 90 degrees of turning direction, all movements of trunk and lower extremities were significantly different among three events of stance phase (p<0.05). Conclusion: We suggest that three-dimensional movement analysis of trunk and lower extremities during turning movement was very important in order to indicate increasing balance or walking ability for people with impaired movement or walking.

• PNF and Movement
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• v.16 no.1
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• pp.7-17
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• 2018

Purpose: The aim of this study was to investigate the effects of coordinative locomotor training in a chronic stroke patient. Methods: A left hemiplegic patient diagnosed with a right middle cerebral artery stroke participated in this research. The patient's functional conditions were assessed, and a coordinative locomotor training program was initiated to resolve the problems identified. A set of movements deemed difficult based on the brief International Classification of Functioning, Disability and Health core set for stroke and d4501 (long-distance walking) were agreed as improvement targets. The program comprised warm up, main, cool-down, and home exercises. Repeated measurements were obtained, as follows: five times at baseline (A), 10 times during the intervention (B), and five times after the intervention (A). The study period was 7 weeks, and the intervention period was 1 h per day, twice a week for 5 weeks. Various tools, including the community walking test (CWT), 10-m walking test (10 MWT), 6-min walking test (6 MWT), and timed up and go (TUG) test, were conducted to assess the patient's walking ability. Changes in functional domains before and after the ICF Qualifier were compared. The mean values of the descriptive statistics were calculated, and a visual analysis using graphs was used to compare the rates of change. Results: The results showed that the CWT, 10 MWT, 6 MWT, and TUG test scores during the intervention period improved and that this improvement remained, even during the baseline period. In addition, the ICF Qualifier before and after the comparison decreased from moderate to mild. Conclusion: Based on the results, we propose that coordinative locomotor training can have positive effects on community ambulation of chronic stroke patients.

• Korean Institute of Interior Design Journal
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• no.25
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• pp.142-148
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• 2000

The purpose of this study is to provide a practical guide for the actual conditions and the preference of student housing in a regional university. The data are collected through questionnaire surveys from the students of a regional university. 265 samples are collected, and are analyzed by using SPSS-PC. The results are as follows: 1) The actual conditions of student housing Most residents of student housing(76.3%) come from the Capital region. Most of student housing are located at 30 minute distance from the school. Most of house style are Offistel as one room style. Most of housing size are within 10 minute distance from the school. Most of house style are Offistel as one room style. Most of housing size are within 10py, and two people reside in one unit. The average hours of staying at the student housing are over 10 hours. The most inconvenient factor is the lack of soundproofing in the current student housing. 2) The preference of student housing The most preferred location is in the walking distance from the school, and the apartment is the most preferred housing style. The most preferred installation of inside is internet connection. When choosing student housing, students prefer the distance from the school as the most important factor. Most female students reside with a roommate within 10 py of housing size, cook for themselves, and consider rent and maintenance fee as the decision factors in choosing housing. The most preferred style of house is apartment, and they prefer to install basic furniture and kitchen system inside of housing. As students go up to higher grade, they prefer the apartment, and prefer to cook for themselves. More fresh men reside with a roommate compared to other grades. They prefer Offistel with meals service at a walking distance from the school.