• 대한임베디드공학회논문지
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• 제7권3호
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• 한국지능시스템학회논문지
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• 제25권3호
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• pp.248-253
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• 2015

휴머노이드 로봇이 인간의 생활환경에 적응하여 미션을 수행하기 위해서는 최소 아동과 비슷한 키를 가져야 한다. 본 논문에서는 아동과 비슷한 키의 1m 이상 휴머노이드 로봇의 설계에 대하여 다루고 있다. 구체적으로는 휴머노이드 로봇의 기구학, 3차원 모델 설계, 메커니즘 개발, 그리고 서보모터와 소형 PC를 이용한 하드웨어 구조를 제시하였다. 이 과정을 통하여 1m 10cm, 무게 8.16kg의 아동형 휴머노이드 로봇 'CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary Systems)' 를 설계하고 제작하였다. 로봇의 보행을 위해 ZMP 기반 보행기법을 적용하고, 보행패턴 생성 알고리즘을 적용하였다. 그리고 보행 실험을 통하여 보행패턴 파리미터의 설정에 따른 보행패턴의 생성 및 변화를 분석하였다.

• 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.

• The Journal of Korean Physical Therapy
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• 제17권4호
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• pp.633-650
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• 2005

The aim of this study was to investigate the kinematics of young adults during ascent ramp climbing at different inclinations. Twenty-three subjects ascended a four step at four different inclinations(level, $8^{\circ},\;16^{\circ},\;24^{\circ}$). The 3-D kinematics was analysed by a camera-based falcon system. Groups difference was tested with one -way ANOVA and SNK test. The different kinematic patterns of ramp ascent were analysed and compared to level walking patterns. The kinematics of ramp walking could be clearly distinguished from the kinematics of level walking. In sagittal plane, Ankle joint was more dorsiflexed at initial contact and Max. dorsiflex. during stance phase with $16^{\circ},\;24^{\circ}$ inclination and more plantarflexed at toe off and Max. plantarflex. during swing phase with $24^{\circ}$(p<.001). Knee joint was more flexed at initial contact with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was more flexed at initial contact and Max. flex. during swing phase with $16^{\circ},\;24^{\circ}$ inclination and at toe off with $24^{\circ}$(p<.001) and was more extended at Max. ext. during stance phase with $24^{\circ}$(p<.05). In frontal plane, ankle joint was more everted at Max. eversion. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Knee joint was more increased at Max. varus. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was not differentiated with different inclinations. In horizontal plane, all joints were not differentiated with different inclinations. Conclusionally, In ascent ramp walking, the different gait pattern generally occurred at over $16^{\circ}$ on the ascending ramp in sagittal and frontal plane. These results suggest that there is a certain inclination angle or angular range where subjects do switch between a level walking and a ascent ramp walking gait pattern. This shows their motor control strategy between level and ascent ramp walking. Further studies are necessary to confirm and detect the ascent ramp gait patterns.

• 한국주거학회논문집
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• 제28권1호
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• pp.45-54
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• 2017

A pedestrian environment provides improved walking conditions and facilities for most pedestrians. However, the walking conditions for women with strollers are poor. The purpose of this study was to provide information on the walking environment planning for women with strollers in an urban housing area through analyse of walking characteristics, patterns of going out, and the psychology of them. This study surveyed 208 women who pushed a baby n a stroller in Gyeongsan. The analysis consisted of calculation of the frequencies, the mean, t-test, and ${\chi}^2$ test. The survey results revealed that, first, the women had their own favorite places in the housing area, and usually went out during the afternoon as various aims. When they went out, they felt stress both psychologically and physically, and they thought that they were weak at walking. Second, the safety and the convenience factors of walking environment were important conditions that make the women to go out often. Third, the environment that have not the accessibility, the amenity, and the diversity also restricted the women from going out with the stroller. As a result, they did mot use the stroller and tended to use their cars to go out. However, when the diversity of the environment is added to walking environment, women invreased their social interactions.

• 한국운동역학회지
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• 제19권1호
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• pp.117-126
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• 2009

이 연구는 12주간 복합운동이 여성 노인의 보행동작 시 발의 압력분포에 미치는 영향을 알아보기 위하여 규칙적으로 운동에 참여하지 않는 65세 이상의 노인여성 15명을 대상으로 하였다. 연구대상에게 보행속도 2.4km/h로 직선보행동작과 $45^{\circ}$ 방향전환보행동작을 실시하게 한 후 보행 시 족저압력분포를 측정한 후 평균 족저압력과 최대 족저압력을 분석한 결과 다음과 같은 결론을 얻었다. 첫째, 12주간의 복합운동이 직선보행동작과 $45^{\circ}$ 방향전환 보행동작 시 평균 족저압력을 유의하게 감소시켜 효과적인 보행동작을 수행하는데 도움을 주는 것으로 분석되었다. 둘째, 12주간의 복합운동이 직선보행동작과 $45^{\circ}$ 방향전환 보행동작 시 최대 족저압력을 유의하게 감소시켜 효과적인 보행동작을 수행할 수 있도록 도움을 주는 것으로 분석되었다. 셋째, 12주 복합운동 전 후의 족저압력분포와 압력중심 이동곡선의 경로 분석결과 복합운동 전보다 복합운동 후의 족저압력분포가 보다 폭넓게 낮은 족저압력분포를 나타낸 것으로 관찰되었으며, 압력중심 이동곡선도 복합운동 전보다 복합운동 후 안정적인 곡선을 나타내는 것으로 분석되었다.

• 한국운동역학회지
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• 제17권1호
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• pp.135-144
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• 2007

The purpose of this study was to identify the effect of the subtalar sling ankle taping, by measuring changes in peak plantar pressure and subtalar angle during jump landing and walking in healthy subjects with subtalar sling ankle taping applied of the ankle joint. Fifty healthy subjects(8 males and 7 female, aged 22 to 25) were randomly divided into a participated in this study. They were free of musculoskeletal injury and neurologic deficit in lower extremity. The subjects were asked to perform 5M walking and single leg jump landing by under the guidance of physical therapists. Subtalar motions were typically measured as the angle made between the posterior aspect of the calcaneous and the posterior aspect of the lower leg during walking with taping or not. This measurement were made using a video system (30Hz sampling rate, rectified 60 Hz sampling rate). At the same time, peak lateral and vertical pressure were investigated using pressure distribution platforms(MatScan system) under foot during walking and single leg jump landing with taping or not. Statistical analysis was done by paired t-test and intraclass correlation coefficient [ICC(3.1)], using software SPSS. We have recently demonstrated significantly altered patterns of subtalr joint and peak plantar pressure when applied subtalar sling ankle taping(p<.05). Inversion angle of subtalar joint significantly decreased with taping(p<.05). The result suggest that pressure patterns observed in subjects are likely to result due to significant decrease in stress on ankle joint structures during jump landing and walking. Also, the result that the subtalar sling ankle taping procedure provides greater restiction of motion associated with ankle inversion. However, this study involved asymptomatic subjects without history of ankle inversion injury, further research is needed to assess the motion restraining effect of the subtalar sling ankle taping in subjects with lateral ankle instability.

• 한국재난정보학회 논문집
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• 제18권3호
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• pp.495-506
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• 2022

연구목적: 일반적으로, 사람들은 일상생활 속에서 자신이 어떻게, 어디서 걷는지 등에 대해 많은 관심을 기울이지 않는 경향이 있다. 하지만, 심각한 화재나 지진이 일어났을 때, 사람들은 가능한 한 빨리 위험지역에서 벗어나려고 노력한다. 만일 사람들이 비상상황에서 의사결정 이론에 근거하여 탈출하게 된다면, 사상 자는 크게 줄어들게 될 것이다. 본 연구는 심리학적인 관점과 인지과학의 관점으로 인간의 행동을 보다 구체적으로 이해하고자 한다. 연구방법: 본 연구에서는 유튜브, CCTV 등에서 얻은 비상상황에서의 영상자료를 수집하여 상황별 사람들의 보행 특성을 분류하였다. 연구결과: 비상상황에서의 보행자의 속도나 방향 전환이 평상시와 전혀 다른 특징을 가지는 것으로 나타났다. 재난 발생 시 탈출 방향이 주로 한 방향이기 때문에, 방향전환이 적으며, 평균 보행속도가 상대적으로 높은 것으로 나타났다. 분석결과, 평상시에서의 인간의 행동은 살면서 학습한 습관에 기반하지만 비상 상황의 경우, 원초적인 본능에 기반하는 것으로 나타났다. 결론 : 본 연구에서 활용된 방법론과 연구 결과는 비상상황에서 사람들의 보행 행태에 대한 시뮬레이션과 분석에 활용 될 수 있을것으로 판단된다.

• PNF and Movement
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• 제22권1호
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• pp.31-41
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• 2024

Purpose: The purpose of this study is to compare lower extremity muscle activities and ankle joint angles between different foot strike patterns (forefoot strike, heelfoot strike) during stair ascent walking. Methods: The subjects of this study were 22 males who walked in each foot strike pattern on ascent stairs at a speed of 85 beats/min. During stair walking with the two types of foot strike patterns, the muscle activities of the rectus femoris, tibialis anterior, medial gastrocnemius, hamstring, and gluteus medius were measured. Additionally, ankle joint angles for inversion, eversion, dorsi flexion, and plantar flexion were recorded. Each participant underwent the experiment three times, with the foot strike pattern randomized. Results were averaged according to the foot strike pattern. Results: Significant differences in ankle angles were observed across all phases according to foot strike pattern. Muscle activities in the lower extremities showed significant differences in all phases except the swing 1 phase. Moreover, differences in foot movement trajectory were noted depending on the foot strike pattern. Conclusion: Walking on ascent stairs elicited differences in lower extremity muscle activities and ankle joint angles based on foot strike pattern. These findings can serve as foundational data for selecting a suitable foot strike pattern tailored to individual patient conditions when training patients in walking on ascent stairs.

• 대한기계학회논문집A
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• 제31권8호
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• pp.889-895
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• 2007

Quantifying dynamic stability is important to assessment of falling risk or functional recovery for leg injured people. Human locomotion is complex and known to exhibit nonlinear dynamical behaviors. The purpose of this study is to quantify major joints of the body using chaos analysis during walking. Time series of the chaotic signals show how gait patterns change over time. The gait experiments were carried out for ten young males walking on a motorized treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The correlation dimension and the largest Lyapunov exponent were calculated from the time series to quantify stabilities of the joints. This study presents a data set of nonlinear dynamic characteristics for eleven joints engaged in normal level walking.