• 로봇학회논문지
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• 제1권2호
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

• 한국조경학회지
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• 제52권1호
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• pp.87-100
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• 2024

본 연구는 도시민의 가로환경 이용을 매개로 하여 주거지역 가로환경 질이 도시민의 정신 건강에 미치는 영향을 밝히고자 하였다. 영과잉 음이항 회귀모형을 통해 보행 활동과 가로환경이 도시민의 우울 증세에 미치는 영향을 확인하였다. 연구 범위는 2017년 대한민국 서울특별시로 한정하였으며, 우울 유병 증세를 종속 변수, 가로환경 변수 및 보행 변수, 개인 특성을 독립 변수로 이용하였다. 나아가, 가로 녹지와 보행 빈도의 상호작용 효과를 살펴, 녹지에서 걷는 행위가 정신 건강에 미치는 상승효과를 분석하였다. 연구 결과, 가로 녹지 면적 비율이 높을수록 우울증세가 나타나지 않았다. 보행 빈도가 높을수록 우울 증세가 나타나지 않거나, 우울 증세가 존재할 경우에도 약하게 나타났다. 또한, 가로 녹지에서의 보행 빈도가 늘어날수록 우울 증세가 약하게 나타나는 상호작용 효과를 확인하였다. 시각적 복잡성은 낮을수록 우울 증세가 나타나지 않았다. 본 연구는 도시민의 정신 건강 문제를 지역사회차원에서 다루는 데에 기여하며, 가로 녹지와 보행 빈도의 시너지 효과를 발견함으로써 주거지역 가로 녹지 환경이 도시민 정신 건강 증진에 미치는 중요성을 강조하였다.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.933-938
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• 2010

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

• Spatial Information Research
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• 제19권1호
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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.

• 로봇학회논문지
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• 제18권2호
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• pp.182-188
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• 2023

Due to the acceleration of an aging society, the need for lower limb exoskeletons to assist gait is increasing. And for use in daily life, it is essential to have technology that can accurately estimate gait phase even in the walking environment and walking speed of the wearer that changes frequently. In this paper, we implement an LSTM-based gait phase estimation learning model by collecting gait data according to changes in gait speed in outdoor level ground and stair environments. In addition, the results of the gait phase estimation error for each walking environment were compared after learning for both max hip extension (MHE) and max hip flexion (MHF), which are ground truth criteria in gait phase divided in previous studies. As a result, the average error rate of all walking environments using MHF reference data and MHE reference data was 2.97% and 4.36%, respectively, and the result of using MHF reference data was 1.39% lower than the result of using MHE reference data.

• 한국산학기술학회논문지
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• 제18권5호
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• pp.68-78
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• 2017

본 연구는 성인 직장인의 건강증진을 위하여 생태학적인 요인에서 개인 수준 요인과 지역 수준 요인이 걷기에 미치는 영향을 주었는지를 파악하여 걷기를 증가시킬 수 있는 방안모색의 기초자료를 제공하고자 한다. 지역사회건강조사 원시 데이터(2011-2013)에 우리나라 지자체 통계연보(2011-2013년 기준)를 접목해 253개의 시군구 단위로 지역 수준 요인 변수를 추출하여 위계적 구조를 가진 융합 빅데이터를 생성하고 위계적 선형 모형으로 다수준 분석을 시행하였다. 개인 수준 요인의 인구 사회적 특성 및 건강행태에 따라 걷기에 유의한 차이가 있었고 이들 개인적 수준을 통제하고도 지역 수준의 사회 문화적 환경 요인 증에서의 공공질서 및 안전 세출예산의 증가, 여가 환경 요인 중의 국토 및 지역개발 세출예산의 증가, 운송환경 요인 중의 각 지자체별 공공 운송수단인 시내버스 등록대수가 걷기에 유의한 영향을 미쳤다. 이 결과로 볼 때 직장인의 걷기 향상에는 개인의 인구사회적 특성이나 행태 뿐 아니라 공공질서 및 안전 그리고 국토 및 지역개발 예산 증가를 통한 지역사회의 사회문화적 환경 개발과 시내버스 운송수단 증가가 중요함을 나타냈다. 그러므로 지역사회 주민인 직장인들의 걷기와 같은 신체활동을 자연스럽게 증가시킬 수 있는 환경조성과 공공 운송수단 개발을 강조할 필요가 있다. 이는 궁극적으로 직장인의 건강수명을 증진시킬 것으로 본다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• 한국정밀공학회지
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• 제26권4호
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• pp.72-81
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• 2009

The purpose of this paper is to accomplish the stable humanoid robot walking on the soft terrains. The goal of the humanoid robot development is to make the robotic system perform some tasks in human living environment. However, human dwelling environments are very different from those of laboratories, where varied experiments are performed by the robot. In many cases, the ground is soft or elastic unlike the floor of a laboratory. When a robot walks on the soft ground, the sole of robot contacts the uneven ground. This results in unstable walking or walking may be impossible according to the degree of softness. Therefore, the algorithm that facilitates stable walking on the soft ground surface is required. In this paper, we suggest an algorithm that controls the ankle to help the robot walk stably on the soft ground using the humanoid robot (ISHURO-II) as a real model. A humanoid robot walking on the soft ground was simulated to verify that the proposed algorithm results in stable walking.

• 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.

• 보건교육건강증진학회지
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• 제24권3호
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• pp.73-86
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• 2007

Objective: The purposes of this study are to understand the characteristics of the participants in a community walking campaign and to analyze the factors related to their participation based on the Transtheoretical Model (TTM). Methods: The study composed of the description of participant characteristics and comparison of them with non-participant characteristics in a walking campaign in K province. The data were collected through a survey of 2,590 participants and 258 non-participants from the same community. The survey instrument included questions about stages of walking and exercise, knowledge and attitude toward walking, and environmental condition for walking. Results: A majority of the walking campaign participants were in the action(24.8%) and maintenance(43.6%) stages of walking and exercise behavior. The non-participant group was split between maintenance(51.6%) and precontemplation (30.6%) stages. Among the participants, effective campaign promotion channels differed by age group while motivation for participation and participation patterns were associated with both age and gender. Favorable physical environment was a significant factor of participating in walking campaign(OR=1.396, CI=1.149-1.696). Although the campaign participants scored higher than the non-participants in most attitude toward walking questions, differences in knowledge scores between two groups were less significant. Conclusion: In conclusion, further social marketing to increase the awareness and to increase the concern of population in the community is needed based on the survey result. Transtheoretical model seems appropriate to apply to the evaluation and the planning the program of the behavior change in the community. Also, more organized and sustainable support in need to maintain the good habit of walking for the participants in walking campaign.