• Journal of Biomedical Engineering Research
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• v.31 no.2
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• pp.162-169
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• 2010

This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.2
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• pp.181-188
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• 2010

This paper presents the control algorithm of active walking aids estimating external torque of the wheels from user's will. Nowadays, interest of the walking aids is increased according to the increase in population of elder and handicapped person. Although many walking aids are developed, most of walking aids don't have any actuators for its movement. However, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to precision control of walking will during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose control algorithm of walking aids by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Finally, walking aids are controlled by these data. Here, all the processes are verified by simulation.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.692-699
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• 2008

This paper describes optimal operation method using recognition of walker's will for a robotic walker. Recently, walking aid system has been required according to the increase of elder and handicapped person. However, most of walking aid system don't have actuator for its movement. Unfortunately, standard frames have weakness for the movement to upward/download direction of slope. So, active type walking aids are interested, but it is not easy to control. In this paper, we adapt user's will system that can recognize walking direction and speed. First, FSR(Force Sensing Register) is applied to measure user's will to walk. And then, fuzzy algorithm is used for determining optimal wheel velocity and direction of the walking aid. From the result, walking aid can move smoothly and safely following the user's will. The walking aid can help user to walk more optimally. Here, all the processes are verified experimentally in the real world.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.42-48
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• 2011

This paper presents the vibration reduction algorithm at the walking-will recognition sensors on the uneven terrain. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Especially, vibration analysis and impulse reduction are one of the important elements of the active-type walking aid during moving on the outdoor area because the ground has many kinds of obstacles such as speed dumps, puddles and so on. So, we analyze the influence from vibration by uneven terrain. And then, we propose the impulse reduction algorithm to overcome the vibration. All the processes are verified experimentally in an active-type walking aid.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.725-730
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• 2004

This paper has regarded mechanism design of cane-like passive type walking aid for the elderly using 3-RPS parallel manipulator. First, gait patterns of the elderly have been experimented. By means of motion capturing and image processing, we decided loaded forces and places of the cane when the elderly walked with a cane. Using these results we have developed a passive type walking aid. Second, the walking pattern has been simulated using dynamic analysis program, ADAMS and we find out the similarity between the real walking and the simulated walking. Finally after assuring the similarity, with adjusting the new mechanism design to the simulated walking we will decide whether the walking aid is safe and stable when the elderly walks with this cane-like walking aid. This paper will be basis for the development of the mechanism design applying 3-RPS parallel manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.481-484
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• 2016

Jansen mechanism is basic principal of walking robot. Because that mechanism have many link, walking robot can walk like animals. One of the feature is that space is existed between leg of walking robot and ground surface. So, it can walk through the non-uniform ground surface that have obstacle. In this paper, I will suggest design of walking robot that can walk on non-uniform ground surface effectively based on Jansen mechanism.

• Survey Research
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• v.12 no.3
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• pp.63-94
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• 2011

Growing worldwide interests in walking are increasing and walking surveys and measuring walking projects are becoming more popular. By the way, we do not have the general survey method on walking yet. The lacks of pedestrian walking features lead to underestimate walking population and the social importance of walking. To solve this problem, Walk21 and Pedestrian Quality Needs projects have tried to build the international standardization in methodology of measuring walking. This study suggests indicator system of the measuring walking and models on the measuring walking proposed by the international measuring walking projects. In addition, we reviewed global governance of those projects and several cases related to the measuring walking. This paper will contribute to domestic walking surveys for participating actively in the ongoing international standardization methodology of walking.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.4
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• pp.1873-1878
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• 2019

Background: Walking is a complex activity. The main components of walking include balance, coordination, and symmetrical posture. The characteristics of walking patterns of stroke patients include slow walking, measured by gait cycle and walking speed. This is an important factor that reflects post-stroke quality of life and walking ability. Objective: This study aimed to examine the effect of deep lumbar muscle stabilization exercise on the spatiotemporal walking ability of stroke patients. Design: Quasi-experial study Methods: The experiment was conducted 5 times per week for 4 weeks, with 30 minutes per session, on 10 subjects in the experimental group who performed the deep lumbar muscle stabilization exercise and 10 subjects in the control group who performed a regular exercise. Variables that represent the spatiotemporal walking ability (step length, stride length, step rate, and walking speed) were measured using GAITRrite before and after the experiment and were analyzed. Results: There was a significant difference in the pre- and post-exercise spatiotemporal walking ability between the two groups (p<.05). Furthermore, there was a significant difference in the step rate and walking speed between the two groups (p<.05). Conclusions: Deep lumbar muscle stabilization exercise is effective in improving the walking ability of stroke patients. Therefore, its application will help improve the spatiotemporal walking ability of stroke patients.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.863-870
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• 2022

Unsatisfactory urban walking environment stresses urban residents, and may cause mental illness and chronic diseases by reducing walking activities. Therefore, establishing a high-quality walking environment that can promote walking activities in urban residents has emerged as an important issue. The walking environment consists of various components, such as trees, stairs, streetlights, benches, signs, fences, and facilities, and it is essential to understand which components and their settings act as satisfiers or dissatisfiers for pedestrians, to create a better quality walking environment. Therefore, this study investigated pedestrian satisfaction and dissatisfaction as a function of various environmental components through a survey using walking environment images. The results revealed that most of the walking environment components except the braille block and treezone exhibited significant correlations with pedestrian satisfaction. Particularly, safety-related component (e.g., adjacent roads, parked cars, traffic cushions, and car separation), and landscape-related components (e.g., trees and green), as well as the material settings of landscape facilities (e.g., wooden fences, benches, stairs, and walkway surfaces) correlated with pedestrian satisfaction. The results of this study can contribute to the extraction of useful features to evaluate pedestrian satisfaction as a function of the walking environment. The research outcome is expected to assist in the effective arrangement of walking environment components and their settings, which will ultimately contribute to significantly satisfactory walking environment and encourage walking activities.