• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.665-672
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• 2002

This paper deals with the human-interactive actions of a quadruped robot by using Genetic Algorithm. In case we have to work out the designed plan under the special environments, our robot will be required to have walking capability, and patterns with legs, which are designed like gaits of insect, dog and human. Our quadruped robot (called SERO) is capable of not only the basic actions operated with sensors and actuators but also the various advanced actions including walking trajectories, which are generated by Genetic Algorithm. In this paper, the body and the controller structures are proposed and kinematics analysis are performed. All of the suggested motions of SERO are generated by PC simulation and implemented in real environment successfully.

• Journal of the Korean Academy of Clinical Electrophysiology
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• v.4 no.1
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• pp.39-47
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• 2006

Functional Electrical Stimulation(FES) cause paralysed muscles to contract in some clinical circumstances. Generally, FES has been thought of as a valuable tool in activating any skeletal muscle paralysed as a result of upper motor neuron damage. But, the function of cardiac and smooth muscle is also affected by upper motor neuron damage. Today, various applications of FES are investigated, including conditioning cardiovascular exercise, caugh and breathing assistant, improving bowel and bladder control, hand grasp, standing and walking etc. This review will focus on the literature reporting application of FES to control respiratory capabilities and internal organ function as well as increase muscular strength, hand grasp, standing and walking in patients with upper motor diseases.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2438-2440
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• 2004

This study is concerned with development of 3-Dimensional simulator of a biped robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a biped robot which have a prismatic balancing weight is conditional linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. To get a stable gait of a biped robot, stabilization equations with ZMP (Zero Moment Point) are modeled as non-homogeneous second order differential equations for each balancing weight type. 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 3-Dimensional graphic simulator is programmed to get and calculate the desired ZMP and the actual ZMP. Walking of 4 steps was simulated and verified. This balancing system will be applied to a biped humanoid robot, which consist Begs and upper body, at future work.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.411-416
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• 2016

Existing moving robots has several kinds of moving method; using wheel, jointed leg structure and so on. Wheel type can be operated by DC motor so it is simple and efficient. However, it is not appropriate to pass irregular terrain and obstacle. Leg structure type has an advantage in those cases. Generally, Leg structure is operated by several servo motors attached to each joint. It makes a robot heavier and more complicate due to increase of the degree of freedom. However, by using Theo Jansen Mechanism, one (or more) leg have only single-degree of freedom and can be operated by only one DC motor. So leg structure using Theo Jansen Mechanism will be good choice if robots have to be mass-produced. This paper describes the following a walking robot designed and produced based on Theo Jansen Mechanism, simulating process of Theo Jansen leg structure using Edison m.Sketch and how to solve several of discovered problem of the robot.

• International Journal of Advanced Culture Technology
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• v.9 no.2
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• pp.130-135
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• 2021

Because of the COVID-19 epidemic, many countries have made the obligation to wear masks normal. Wearing masks in public places has become a must. At present, wearing a mask to participate in sports makes it very common. People seek to gain health through exercise but ignore the potential respirato-ry health threat. That is, wearing a mask will cause a decrease in oxygen content in the body. This neg-ative impact becomes more prominent as the wear-ing time and oxygen consumption increase. To pro-tect people from viruses and enjoy a healthy life. This paper proposes a breathing pattern that im-proves blood oxygen saturation while wearing a jogging mask and walking. Namely, shouting breathing pattern. Use a pulse oximeter to measure the blood oxygen saturation of running at different speeds and compare the normal breathing pattern and the shouting breathing pattern. The results show that the shouting breathing pattern has a sig-nificant improvement in the blood oxygen satura-tion of low-speed walking and medium-speed jog-ging.

• Journal of Biosystems Engineering
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• v.34 no.1
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• pp.57-62
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• 2009

Kinematic analysis of MTC (Muscle-Tendon Complex) units is a key indicator for diagnosis of patients with musculoskeletal disorders because the contracture or shortening of musculo-tendinous units is known to produce pathological gaits. Therefore, the principal objective of this study was to assess the length change in the triceps surae prior to and after wearing an AFO (Ankle-Foot Orthoses) in patients with musculoskeletal disorders during a gait. In this study, analyses were conducted using a Muscle Tendon Complex model coupled with the trajectory data from markers attached to anatomical landmarks. As a result, the maximum length change in the triceps surae during a gait was 4.87% when a barefoot walking group and a walking group with AFO were compared. In particular, the difference in length changes between both groups in Soleus MTC units was found to be statistically significant in all gait phases. Our results revealed that MTC length in the AFO walking group was clearly increased over that of the barefoot walking group. In the future, further studies will be required in order to more adequately assess musculoskeletal disorders using many cases studies with regard to agricultural working conditions because this study deals with the kinematic analysis of musculo-tendinous units in the case of clinical experiments.

• Journal of Biosystems Engineering
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• v.17 no.3
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• pp.213-222
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• 1992

To develop the wireless remote opreating system of walking rice transplanter, this study was carried out for manufacturing the wireless remote control system acting upon the transplanter. The first report of this study contained about the construction and operating method of a developed remote control system for 2-row walking type transplanter. It is the second report about the field test for an experimental transplanter being attached a wireless control system and for a conventional transplanter. The test was executed to investigate the characteristics of velocity, rectilinearity, turning time, interval of roots and of rows, and field capacity in accordance with various engine speeds for an experimental transplanter. The measurements of this test were compared with those of the conventional transplanter. The obtained results were as follows : 1. The operating velocity of the experimental transplanter was faster than the conventional one when the high speed range of the engine but the variances were very large. 2. The rectilinearity, interval of raws and of roots, and the turning time of the experimental transplanter was inferior to the conventional one at some speed ranges of the engine. 3. Field capacity of the experimental transplanter was superior to the conventional one at high speed of the engine. 4. There were some disadvantages for the experimental transplanter to operate, because it was constructed without any aid devices, such as float and hydraulic system for instance. But if the remote control system of this study equip at the modern walking transplanter, it will be improved and utilized without defects which was revealed from this test.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.5
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• pp.99-104
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• 2016

The walking exercise can alleviate stress and also it can improve health fortheir lifetime. Recent development in Information and Communication Technologies (ICT) has laid the foundation for Internet of Things (IoT) to become the future technology. IoT has many applications in industry automation, security, smart homes and cities, education, health etc. In personal health-care domain, IoT is mainly used for monitoring fitness condition by observing current activity of individual. In this paper, we have proposed a novel IoT based personal wellness care system. Proposed system not only keep track of current fitness level but also provide future activity prediction based on history data along with standard recommendations. Predicted activity helps in motivating the individual to achieve the desired fitness level. Initially, we consider only walking activity for testing purpose and later, other types of activities/exercise will be captured for improved health care support.

• Korean Journal of Applied Biomechanics
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• v.25 no.3
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• pp.257-263
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• 2015

Objective : The purpose of this study was to investigate the effect of genu valgum on the body mass index, movement of lower limb joints, and ground reaction force. Methods : Gait patterns of 30 college students with genu valgum were analyzed and the static Q angle of the femur was measured for selecting genu valgum of the subjects. To analyze the kinetic changes during walking, the six-camera Vicon MX motion analysis system was used. The subjects were asked to walk 12 meters using the more comfortable walking method for walking. After they walked 12 meters more than 10 times, their most natural walking patterns were chosen three times and analyzed. Results : As a result of measuring a relationship between genu valgum and Q-angle, as the Q-angle increases, it showed a genu valgum also increased. Body Mass Index showed a significant difference between the groups was higher in the genu valgum group.(p<.001). The analysis result showed that genu valgum had a significant effect on the internal rotation moment in the hip joint(p<.05). Also, genu valgum had a significant effect on the internal rotation moment of the knee joint(p<.05). The comparative analysis of the Medial-Lateral ground reaction force in the genu valgum group showed a tendency to increase the medial ground reaction force(p<.05). The vertical ground reaction forces of the middle of the stance phase(Fz0) showed a significant increase in genu valgum group(p<.05), in particular the results showed a decrease in the early stance phase(p<.001). Conclusion : In conclusion, the change in body mass is considered to be made by proactive regular exercise for improvement of the genu valgum. In addition, the prevention of the deformation caused by secondary of the genu valgum in this study may be used as an indicator of the position alignment rehabilitation for structural and functional improvements. Applying a therapeutic exercise program for the next lap will require changes in posture alignment.

• Physical Therapy Korea
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• v.21 no.3
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• pp.80-88
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• 2014

Previous studies have reported that decreased cognitive ability has been consistently associated with significant declines in performance of one or both tasks under a dual-task walking condition. This study examined the relationship between specific cognitive abilities and the dual-task costs (DTCs) of spatio-temporal gait parameters in stroke patients. The spatio-temporal gait parameters were measured among 30 stroke patients while walking with and without a cognitive task (Stroop Word-Color Task) at the study participant's preferred walking speed. Cognitive abilities were measured using Computerized Neuropsychological Testing. Pearson's correlation coefficients (r) were calculated to quantify the associations between the neuropsychological measures and the DTCs in the spatio-temporal gait parameters. Moderate to strong correlations were found between the Auditory Continuous Performance test (ACPT) and the DTCs of the Single Support Time of Non-paretic (r=.37), the Trail Making A (TMA) test and the DTCs of Velocity (r=.71), TMA test and the DTCs of the Step Length of Paretic (r=.37), TMA test and the DTCs of the Step Length Non-paretic (r=.36), the Trail Making B (TMB) test and the DTCs of Velocity (r=.70), the Stroop Word-Color test and the DTCs of Velocity (r=-.40), Visual-span Backward (V-span B) test and the DTCs of Velocity (r=-.41), V-span B test and the DTCs of the Double Support Time of Non-paretic (r=.38), Digit-span Forward test and the DTCs of the Step Time of Non-paretic (r=-.39), and Digit-span Backward test and the DTCs of the Single Support Time of Paretic (r=.36). Especially TMA test and TMB test were found to be more strongly correlated to the DTCs of gait velocity than the other correlations. Understanding these cognitive features will provide guidance for identifying dual- task walking ability.