• Journal of Advanced Marine Engineering and Technology
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• 제32권8호
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• pp.1285-1295
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• 2008

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

• 한국운동역학회지
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• 제16권4호
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• pp.61-71
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• 2006

The purpose of this study was to compare kinematic characteristics on the limbs at 3 different walking speed during the energy and the normal walking. Eight subjects performed energy walking and normal walking at the slow speed(65 beats/min), the normal speed(115beats/min), the fast speed(160 beats/min). The 3-d angle was calculated by vector projected with least squares solution with three-dimensional cinematography(Motion Analysis corporation). The range of motion was calculated on the trunk, shoulder, elbow, hip, knee joint. The results showed that stride length was no difference of the two walking pattern. The duration of support phase was also no difference of the two walking pattern. The range of motion of shoulder joint significantly increased in the sagittal and frontal planes, and the range of motion of elbow joint significantly increased as the energy walking. The range of motion of hip joint had no significant difference in the any planes in changing of walking speed. But the most remarkable difference of the two walking patterns revealed at the trunk. The range of flexion/extension angle had significant increasing $2.36^{\circ}$ at normal speed, and the range of the right/left flexion angle had significant increasing below $4^{\circ}$ at the 3 walking speed, and The range of rotation angle had significant increasing $7.35^{\circ}$, $9.22^{\circ}$, respectively at the normal and slow speed. But there was no significant difference of range of motion at the hip and knee joints between energy walking and normal walking.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.948-953
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• 2004

For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.

• PNF and Movement
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• 제22권2호
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• pp.305-314
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• 2024

Purpose: This study examines the correlations between neck pain, neck range of motion, static and dynamic balance abilities, and walking abilities in patients with chronic stroke. Methods: A total of 29 participants were selected from patients with chronic stroke experiencing moderate to severe neck pain. Their neck pain, neck range of motion, static and dynamic balance abilities, and walking abilities were assessed and measured. Pearson's correlation coefficient was used to analyze the measurements and determine the correlations between neck pain, neck range of motion, static and dynamic balance abilities, and walking abilities. Results: Neck pain significantly correlated with static and dynamic balance and walking abilities. Regarding neck ROM, neither neck flexion nor extension showed significant correlations with static balance and walking abilities. However, except for left-lateral flexion, neck lateral flexion showed significant correlations with static and dynamic balance and walking abilities. Left-lateral flexion did not show a significant correlation with dynamic balance ability. Except for left rotation, neck rotation showed significant correlations with static and dynamic balance and walking abilities. Left rotation did not show a significant correlation with dynamic balance ability. Conclusion: The results of this study demonstrate that there are correlations between neck pain, neck range of motion, balance abilities, and walking ability.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.626-633
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• 2009

A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.114-117
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• 2000

We developed a motion capture system to get angle data of human joints in walking mode. The data are used to coordinate the biped-walking robot developed in our laboratory. A pair of motion capture system is composed of three links with the ankle, knee, and pelvis joints. The system has six axes attached with potentiometers. We used an A/D converter was used to get digital data from joint angles. We filterd the data using the Butterworth 4th order digital filter, and simulated walking motion based on the data using the Matlab.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• 한국운동역학회지
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• 제19권4호
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• pp.627-636
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• 2009

본 연구는 한국무용 시 내면의 아름다움뿐만 아니라, 외면으로 표현되고 기술적으로 한층 세분화된 한국무용의 호흡에 대한 중요성을 인식하는 연구의 필요성을 갖고, 호흡의 사용이 한국무용 걸음체 동작에 어떠한 영향을 미치는 가를 분석하여, 무용의 추상적인 아름다움을 과학적인 근거로 명확하게 제공하는 데 연구의 목적을 갖는다. 연구 결과, 호흡을 사용한 걸음체가 호흡을 사용하지 않는 걸음체 보다 신체중심과 골반이 이동변위가 낮게 나타났다. 슬관절과 족관절의 각변위에서 호흡을 사용하는 걸음체가 호흡을 사용하지 않는 걸음체보다 굴곡되어 굽힘이 많이 사용되었고, 이것은 굴신이 일어나고 있는 시전에서 나타났다. 호흡을 사용한 걸음체 동작은 수직지면반력에서 호흡을 사용하지 않은 걸음체에서 볼 수 없는 pre정점이 나타났고 이것은 한국무용 걸음체 시 호흡이 시작되는 들숨의 시점을 의미하며, 뒤꿈치 닿는 구간(1정점)에서 호흡을 사용한 걸음체의 부하 값이 날숨에 의해 호흡을 사용하지 않는 걸음체 보다 부하 값이 더 크게 나타났다. 전후지면반력 결과 호흡을 사용한 걸음체가 제동력이 더욱 크게 나타났다.

• 한국운동역학회지
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• 제26권2호
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• pp.221-228
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• 2016

Objective: The purpose of this study was to investigate differences in gait parameters and symmetry between walking speed by using the Froude number and preferred walking speed. Method: Fifty adults (age: $21.0{\pm}1.7years$, body weight: $71.0{\pm}9.2kg$, height: $1.75{\pm}0.07m$, leg length: $0.89{\pm}0.05m$) participated in this study. Leg length-applied walking speed was calculated by using the Froude number, defined as Fr = ${\upsilon}^2$/gL, where v is the velocity, g is the gravitational acceleration, and L is the leg length. Video data were collected by using eight infrared cameras (Oqus 300, Qualysis, Sweden) and the Qualisys Track Manager software (Qualisys, Sweden), with a 200-Hz sampling frequency during two-speed walking (preferred walking speed [PS] and leg length-applied walking speed [LS]) on a treadmill (Instrumented Treadmill, Bertec, USA). The step length, stride length, support percentage, cadence, lower joint angle, range of motion (ROM), and symmetry index were then calculated by using the Matlab R2009a software. Results: Step and stride lengths were greater in LS than in PS (p < 0.05). The right single-support percentage was greater in LS than in PS (p < 0.05). The hip joint angle at heel contact and toe-off were greater in LS than in PS (p < 0.05). The hip and knee joint ROM were greater in LS than in PS (p < 0.05). Conclusion: Based on our findings, we suggest that increased walking speed had a significant effect on step length, stride length, support percentage, and lower joint ROM.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.359-363
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• 2004

Numerous studies have been performed to analyze various phenomena of human's walking, gait. In the present study, unrecognized walking and recognized walking were analyzed by three dimensional motion capture system(VICON motion system Ltd., England) and simulated by computer program. Two normal males participated in measuring the motion of unrecognized and recognized walking. Six infrared cameras and four force plates were used and sixteen reflective markers were attached to the subject to capture the motion. A musculoskeletal model was generated anatomically by using ADAMS(MSC software corp., USA) and LifeMOD(Biomechanics Research Group Inc, USA). The inverse dynamic simulation and forward dynamic simulation were also performed. The result of simulation was similar to the experimental result. This study provides the base line for dynamic simulation of the falling walking. It will be useful to simulate various another pathologic gaits for old peoples.