• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1638-1641
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• 2004

Many walking stands, and assisting tools have been developed for the people with low-limb disability to prevent diseases from bedridden state and to help them walk again. But many of those equipments require user to have some physical strength or balancing ability. In our last research, we developed walking assist system for the people with lower-limb disability. With the system, user can be assisted by actuators, and do not have to worry about falling down. The system adapted the unique closed links structure with four servomotors, three PICs as controller, and four limit switches as HMI (human man interface). We confirmed the adaptability of the system by the experiment. In this research, Muscle Stiffness Sensor was tested as the advanced HMI for walking assist system, and confirmed the adaptability by the experiment. As Muscle Stiffness Sensor can attain the muscle activity, user can interface with any device he want to control. Experimental result with Muscle Stiffness sonsor showed that user could easily control the walking assist system as his will, just by changing his muscle strength.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.493-497
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• 2016

Walking mechanism, there are many types. Prior to the modeling and design, we thought about a variety of mechanisms based on the Janssen mechanism to design a walking mechanism optimized for walking. The more the legs increases the stability of the structure, while the weight is heavy and if that advantage had the disadvantage, the legs are easier to walk in the utilization and structural aspects of the torque had fewer advantages. The disadvantage is that the instability mechanism, four-legged, but improve it and look forward to the idea of utilization and cost-effectiveness, its future utilization will be endless. To study this, we utilized a variety of software, such as m-sketch, Edison design program, we have seen the actual production through scientific experiments box.

• 대한물리의학회지
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• 제14권1호
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• pp.35-41
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• 2019

PURPOSE: This study examined the effects of a vestibular stimulation training program on the walking ability of chronic stroke patients over a six month period. METHODS: Forty stroke patients were enrolled in this study. The patients were divided randomly into a control group (n=20) and experimental group (n=20). A general exercise program was applied to Group I and vestibular stimulation training was applied to Group II(30 min, three times a week for six weeks). The changes in straight walking ability, curved walking ability, and functional walking ability were measured using a 10 m walking test figure-of-eight-walking test, and dynamic gait index, respectively. The measures before and after the program were compared using a paired t-test for a comparison of each group and an independent t-test for a comparison between groups. RESULTS: The changes in each group were examined according to the measurement period. The Experimental group showed significant functional improvement in all three tests after the vestibular stimulation training program, but the control group did not show significant improvement in any of the tests after the general exercise program. A comparison of the changes between groups revealed the experimental group to show significantly higher improvement than the control group in all tests. CONCLUSION: The vestibular stimulation training program helps improve the gait function of stroke patients. Based on the results of this study, it is expected that various vestibular stimulation training programs will be developed and applied in a range of places.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• 대한간호학회지
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• 제26권2호
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• pp.372-386
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• 1996

Recently, the ratio of elderly in the population are fast growing due to socio-economical development and the better medical service. Proportionally, the health problems in elderly are increasing, too. Medical professionals must try so that the elderly have the better life through health promotion and disease prevention as well as disease treatment. This study evaluated the effect of walking exercise program on the cardiorespiratory function and the flexibility in the elderly women. The design of research was one group pretest-posttest design. The subjects were eleven elderly women over sixty years old to live in K-city, Kyonggi-do. The type of exercise was walking, which was the most popular exercise in questionnaire. The exercise intensity was 40％∼60％ of the target heart-rate by Karvonen's method and maintained by the heart-rate monitor. The exercise period was five weeks and the exercise frequency was three times per week. The exercise duration was forty minutes at first and gradually increased up to an hour. In order to evaluate the effect of walking exercise, we measured VO/sub₂ max, resting heart -rate, systolic/diastolic blood pressure, FVC, FEV/sub₁, the flexibility before and after the five week's exercise program. The data are analyzed by the paired t-test and Wilcoxon signed rank test using SAS package. The results are as follows : 1) The hypothesis that cardiorespiratory function will be improved was partly supported. In VO/sub₂ max（p＝0.0001）, resting heart-rate（p＝0.0030）, systolic/diastolic blood-pressure（p＝0.0387／ p＝0.0024）, there was significant difference. FVC and FEV/sub₁ were increased after the exercise, but there were no significant difference. 2) The hypothesis that the flexibility will be improved was supported. There was significant difference in the flexibility（p＝0.0140）. As the further study, it is necessary to reevaluate the effect with more refined design. We also need to try meta-analysis about the results of previous studies obtained in the experimental setting and compare our result obtained in the field setting with them.

• 대한인간공학회지
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• 제34권5호
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• pp.363-375
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• 2015

Objective: This study aims to recognize the risk of current traffic systems and to investigate a method to decrease risk by doing exercise using an elastic-band and cognitive rehabilitation. Background: The existing traffic system usually focuses on the ordinary citizens, which may not be appropriate to the elderly. It may affect the cognition and walking speed of the elderly. This study tries to examine whether cognition and muscle training is appropriate to improve their vulnerability. Therefore this study will provide human ergonomics - based basic data in relation to the elderly to identify the risk of current signal system and to mitigate the risk. Method: A total of 30 elderly participants were divided into two groups: experimental and control groups. Experimental group (n=15) was trained to strengthen their muscles and to promote cognition, whereas control group (n=15) was not. The training was conducted twice a week for three weeks. To strengthen muscles, a yellow colored elastic-band was used, and a computer program for cognitive rehabilitation was used to develop cognition. In the experimental group, there were significant differences between pre and post exercises However, the control group didn't show any significant difference. The increase in cognition and walking speed was found in the experimental group, whereas there were no differences in the control group. Statistically there was no significant difference between the two groups. Results: The results of this study show that the exercise program using the elastic-band gave a positive effect on gait training thanks to the development of muscle power and balance. Conclusion: This study did not show any statistical difference or significant differences between the two groups, since time was restricted, we believe. Application: The results of the walking speed will help to prevent traffic collision.

• 한국안전학회지
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• 제32권3호
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• pp.74-82
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• 2017

This study was conducted to test the impacts of distractions caused by smartphones on pedestrians whilst walking alongside or across vehicular traffic in a high-density urban zone in South Korea. Through this study, we propose objective evidence for a link between the risk of traffic accidents and distractions from smartphones for pedestrians because of less likely notice activities surrounding road along their walking. This means that smartphones usage may cause inattentional blindness even during a simple activity that should require few cognitive resources. We conducted an experiment comparing pedestrian behavioral patterns of walking with smartphone distractions (such as listening to music with earphones or sending text messages) and normal walking without any distractions. In the experiment, participants walked along a pedestrian path prescribed by researchers and were observed at 8 points which were as follows: two observation points through which participants were instructed to listen to music whilst walking, two points where participants were instructed to send text messages, and four points through which participants were instructed not to use a smartphone at all. According to pedestrian behavior analysis, there is a trend for attention to be distributed amongst whatever other activities pedestrians are doing whilst walking. Therefore, this study proposes that pedestrians walking with such distractions are at a higher risk of traffic accidents compared to those who walk without such distractions. Thus, we advise for the South Korean government to consider ways to traffic policy that will enhance traffic safety for pedestrians.

• 한국지능시스템학회논문지
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• 제24권5호
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• pp.477-481
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• 2014

인간은 다양한 감정을 가지고 있으며 매 시점의 감정 상태에 따라 사고와 판단, 행동이 영향을 받는다. 특히 어떤 사람의 보행하는 모습만 보아도 그 사람의 감정 상태를 짐작할 수 있을 정도로 보행 또한 감정에 영향을 받는다. 현재 휴머노이드 로봇의 이족보행에 관한 연구는 지면의 상태와 상관없이 안정하게 걷는 것을 주로 다루지만 인간과의 교감을 위해서는 감정상태에 따라 보행하는 패턴이 달라질 필요가 있다. 이를 위해 본 논문에서는 보행분석 시스템을 이용해서 네 가지 대표적인 감정(기쁨, 슬픔, 화남, 편안함) 상태에 있는 성인남녀의 보행 데이터를 취득 및 분석하고 상호 특성을 비교하는 연구를 수행했다. 본 논문에서 소개 된 정서적 보행 분석 내용은 휴머노이드 로봇의 정서적 보행에 참고 자료로 사용될 예정이다.

• 한국정밀공학회지
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• 제21권10호
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• pp.196-203
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• 2004

In this study, a new gait phase detection system using both FSR(Force Sensing Resister) sensors and a gyrosensor was developed to detect various gait patterns. FSR sensors were put in self-designed shoe insoles and a gyrosensor was attached to the posterior aspect of a shoe. An algorithm was also developed to determine eight different gait transitions among four gait phases: heel-strike, foot-flat, heel-off and swing. The developed system was compared with the conventional gait phase detection system using only FSR sensors in various gait experiments such as level walking, fore-foot walking and stair walking. In fore-foot walking and stair walking, the developed system showed much better accuracy and reliability to detect gait phases. The developed gait phase detection system using both FSR sensors and a gyrosensor will be helpful not only to determine pathological gait phases but to apply prosthetics, orthotics and functional electrical stimulation to patients with gait disorders.