• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.439-439
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• 2000

In this paper, the relationship among the vertical acceleration, measuring points and walking patterns is analyzed. To measure acceleration, the acceleration measurement unit and communication board is constructed. It uses MEMS accelerometer ADXL-202 that detects 2-axis acceleration simultaneously. It is shown by the experiment test that the walking pattern is recognized and walking step is detected at easy when acceleration measurement unit is mounted on leg.. This results can be directly utilized in designing the personal navigation system with low-cost inertial sensor.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.6
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• pp.221-227
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• 2002

In this paper, the system model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. WNS(Walking Navigation System) is a kind of personal navigation system using the number of a walk, stride and azimuth. Because the accuracy of these variables determines the navigation performance, computational methods have been investigated. The step is detected using the walking patterns, stride is determined by neural network and azimuth is calculated with gyro output. The neural network filters off unnecessary motions. However, the error compensation method is needed, because the error of navigation information increases with time. In this paper, the accumulated error due to the step detection error, stride error and gyro bias is compensated by the integrating with GPS. Loosely coupled Kalman filter is used for the integration of WNS and GPS. It is shown by simulation that the error is bounded even though GPS signal is blocked.

• Physical Therapy Korea
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• v.13 no.1
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• pp.32-37
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• 2006

The purpose of this study was to investigate the effects of clinical characteristics of chronic stroke patients on physiological cost index (PCI) during walking. Fourteen stroke patients participated in this study. To investigate the clinical characteristics, Fugl-Meyer score (FMS), gait velocity (GV), muscle strength of the knee extensor, modified Ashworth scale (MAS) of ankle plantar flexor, devices, and gait patterns during walking were measured and analyzed. The results were as follows: Firstly, use of devices and high MAS of the ankle plantar flexor significantly increased PCI. Secondly, PCI was significantly correlated with the FMS and MAS of the ankle plantar flexor. In conclusion, inhibition of spasticity of the ankle plantar flexor is considered to reduce PCI during walking for chronic stroke patients.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.309-312
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• 2003

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable walking, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quadruped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated though experiments using a TITAN-VIII.

• Korean Journal of Applied Biomechanics
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• v.30 no.1
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• pp.83-91
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• 2020

Objective: The study aimed to develop a functional performance index that evaluates the functional performance of Parkinson's patients, i.e., to integrate biomechanical measurements of walking, balance, muscle strength and tremor, and to use multiple linear regression with stepwise methods to identify the most suitable predictors for the progression of disease. Method: A total of 60 subjects were tested for sub-variables of four factors: walking, balance, isometric strength and hand tremors. Potential independet variables were extracted through correlation analysis of the sub-variables and dependent variables, Hoehn & Yahr scale. And then, a stepwise multiple regression analysis using the potential independent variables was performed to identify predictor of Hoehn & Yahr scale. Results: First, the results of the study showed that physical composition and gait had a relatively more correlated with the progression of the disease, compared to balance and hand tremor. Second, Parkinson's functional performance is characterized by dynamic pattern of walking, such as foot clearance and turning angle (TA) of walking, and a high-explained regression model is completed. Conclusion: The study emphasized the importance of walking variables and body composition in minor pathological features compared to Parkinson's patient's balancing ability and hand tremor. Specifically, it revealed that dynamic walking patterns functionally characterize patients. The results are worth considering when assessing functional performance related to the progression of the disease at the site.

• Journal of the Ergonomics Society of Korea
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• v.29 no.3
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• pp.357-364
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• 2010

This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1247-1252
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• 2005

Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.3
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• pp.129-138
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• 2018

The purpose of this study is to analyze the daily living area of the elderly using the vast amount of travel route data collected through smart phones. In order to analyze the utilization status of the elderly into the visiting area and the living area, the subway station influence area was typed based on the number and ratio of the elderly visiting and the elderly living there. The characteristics of the elderly visiting area and the living area of the subway station area were derived by analyzing the walking route data for the three types of subway station influence areas where the elderly visit and live. First, we derive the range of visiting area and living area of the elderly near the subway station. Second, we derive the characteristic of moving distance which causes the linked walking of the elderly. Third, destination distribution and facility utilization are influenced by the subject of use, movement pattern, and facility awareness.

• Physical Therapy Korea
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• v.25 no.2
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• pp.53-61
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• 2018

Background: Stroke patients show abnormal walking patterns due to brain injury. In order to have the desired walking pattern, appropriate stimulation is required to activate the central pattern generator. For this reason, our study performed treadmill ambulatory training with rhythmic auditory stimulation. However we did not consider the influence of visual feedback. Objects: The purpose of this study was to compare the gait abilities in chronic stroke patients following either treadmill walking training with rhythmic auditory stimulation and visual feedback (TRASVF) or treadmill walking training with rhythmic auditory stimulation (TRAS) alone. Methods: Twenty-one stroke patients were divided into two groups: A TRASVF group (10 subjects) and a TRAS group (11 subjects). They received 30 minutes of neuro-developmental therapy (NDT) and walking training for 30 minutes, five times a week for three weeks. Temporal and spatial gait parameters were measured before and after the training period. The Biodex gait trainer treadmill system measured gait parameters. Results: After the training periods, the TRASVF group showed a significant improvement in walking speed, the step length of the affected limb, and time on each foot of the affected limb when compared to the TRAS group (p<.05). Conclusion: The results of this study showed that the treadmill walking training with rhythmic auditory stimulation and visual feedback improved individual gait ability more than the treadmill walking training with rhythmic auditory stimulation alone. Therefore, visual feedback should be considered along with rhythmic auditory stimulation training.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.16 no.2
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• pp.76-81
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• 2010

Purpose: This study examined how the degrees of muscle activity of Rectus Femoris and Tibialis Anterior during the four phases of walking vary according to three different treadmill slopes of $0^0$, $7^0$, and $15^0$. Methods: Subjects were 14 randomly selected healthy students attending G University in Seoul, Korea who had never had articular problems with lower limb and had no difficulties walking at the time of study. Results: 1) With respect to Rectus Femoris, in every phase of both forward and backward walking, there were significant differences among all of the slope degrees (p <.05), while the activity increased with increased slope degrees in every phase of backward walking. 2) For Tibialis Anterior, only in P2 and P3 of both forward and backward walking there were significant differences in every slope (p <.05). Conclusion: Both Rectus Femoris and Tibialis Anterior were found to be more active during backward walking compared to backward walking. In addition, the activity degree of Rectus Femoris was high between the early part of two foot support phase and the early part of one foot support phase, whereas that of Tibialis Anterior was high between the early part of one foot support phase and the latter part of both foot support phase.