• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Physical Therapy Rehabilitation Science
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• v.7 no.3
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• pp.134-138
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• 2018

Objective: The aim of this research was to investigate the effects of functional electrical stimulation (FES) applied to the gluteus medius (Gm) and tibialis anterior (TA) during stair climbing in persons with stroke compared to FES applied to the TA only during stair climbing, and during stair climbing without FES in persons with stroke. Design: Cross-sectional study. Methods: Twenty subjects with stroke participated in this study. Subjects were included if: 1) they were diagnosed as stroke at least 6 months before; 2) had Mini Mental State Examination- Korean score of 24 or higher; 3) were able to climb a flight of 10 stairs independently (with or without walking aid). The patients walked 10 stairs 3 times with FES applied to the Gm and TA, only TA, or no FES. There was a 1-minute rest period between each bout. The assessments were made using the Timed Up & Down Test and the Wii Balance Board. Results: Stair climbing with FES applied to the Gm and TA was significantly faster than stair climbing with FES applied to the TA only and without FES (p<0.05). Stair climbing with FES applied to the Gm and TA exhibited significantly greater sway velocity than stair climbing without FES (p<0.05). However, maximal sway distances were not significantly different between groups. Conclusions: Stair climbing with FES applied to the Gm and TA can be an important component of a rehabilitation program for improving stair climbing ability in persons with stroke.

• Fashion & Textile Research Journal
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• v.20 no.4
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• pp.449-456
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• 2018

This study conducted a survey of members at sports climbing centers on the purchasing and wearing conditions of sports climbing wear and design preferences. 140 participants were in their 20's and 30's, and many of them engaged in sports climbing activities over 20 times a month. They put emphasis on the motion adaptability, durability, price and functional material when purchasing a climbing wear. However, only 23% of them used sports climbing wear. The reasons for wearing sports climbing wears were suitability for physical activity, comfort, and design. On the other hand, the reasons for not purchasing them were expensive prices and lack of designs. They experienced inconveniences at sleeves and waist in shirts. In case of pants, participants experienced inconveniences with the knee and thigh when they climbing. Concerning the damage of shirts, the majority experienced the elbow part was worn out, and the knee part was either worn out or torn at pants. Design preference results showed participants preferred loose-fit short-sleeved shirts that could cover half of the hip. In case of pants, they preferred basic-fit long trousers and basic hems with no functional characteristic. 3 sports climbing instructors answered that climbing wears should put emphasis on deodorization and antimicrobial effects as well as durability and suitability for physical activity. They also pointed out limitations in price and design and presented opinions about creating various sizes for different body parts by taking into account the growth of muscles.

• The Journal of the Korea Contents Association
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• v.17 no.5
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• pp.90-99
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• 2017

Sports climbing requires repeated movements within a limited space, which may cause climbers to lose their constant interest in it. Furthermore, it is important that coaches should give lessons focusing on demonstrations to make sure that learners can understand the movements on their own, However, in traditional sports climbing lessons, they give instructions on almost every movement of learners' hands and feet. Hence, there have been constant calls for replacing these existing sports climbing lessons and presenting new methods to ensure that learners can observe their coaches' demonstrations in real time and emulate them. An introduction of the image training using spatial augmented reality techniques to solve these problems may have a positive effect on the improvement of learners' motor skills and attitudes toward lessons. This study aims to verify the effectiveness of the Climbing Character Animation (CCA) as a learning tool for sports climbing. To achieve this research objective, it applied it to actual sports climbing to verify its utility. As a result, it was shown that the lessons using spatial augmented reality-based CCA had a higher effectiveness than traditional sports climbing lessons in the degree of interest inducement, emersion and learning effects.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.548-553
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• 2002

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• Journal of Korea Game Society
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• v.16 no.3
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• pp.117-126
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• 2016

Screen climbing is a kind of screen sports. In screen climbing, the software program is executed in a computer system and climbing is progressed by the interaction between a climber and the content of the screen. We implemented a screen climbing game with the ancient cave exploration considering the development of children and the children's motivation to sports climbing. The content of the game is projected to the artificial climb wall and the interaction between a user and the game is done by a user's input of Kinect's depth data. The game is popular with the children in the children's exhibition event. There should be implemented more screen climbing game.

• Journal of Sport and Applied Science
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• v.4 no.1
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• pp.9-14
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• 2020

The purpose of this study is to investigate the effect of ICING recovery method after sports climbing to blood lactate concentration and heart rate. The subjects were 12 male 20s undergraduate students (ICING group of 6, Control group of 6). Blood lactate concentration and heart rate were measured before climbing, after climbing, 5-minute recovery and 10minute recovery. Heart rate were also measured during the climbing. The subjects performed climbing 3 times. Data were analysed by SPSS 20.0. To compare blood lactate concentration and heart rate among groups, the independent samples t-test was employed using an alpha level of .05. Mean and standard deviations were computed. Results show that there is no significant difference between the icing group and non-icing group. Yet, the differences of blood lactate concentration were observed between groups. Blood lactate concentration of icing group was significantly higher than non-icing group in the condition of 1st climbing. Blood lactate concentration of non-icing group was significantly higher than icing group in 2nd 10-minute recovery. ICING recovery method is shown to be not significantly effective to blood lactate concentration and heart rate. This could be comprehended that long-term high-intensity (70% of 1RM) exercise can be prepared for the further research.

• Journal of the Korea Computer Graphics Society
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• v.30 no.2
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• pp.21-29
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• 2024

Although there is an increasing demand for capturing various natural motions, collecting climbing motion data is difficult due to technical complexities, related to obscured markers. Additionally, scanning climbing structures and preparing diverse routes further complicate the collection of necessary data. To tackle this challenge, this paper proposes a climbing motion synthesis using reinforcement learning. The method comprises two learning stages. Firstly, the hanging policy is trained to grasp holds in a natural posture. Once the policy is obtained, it is used to extract the positions of the holds, postures, and gripping states, thus forming a dataset of favorable initial poses. Subsequently, the climbing policy is trained to execute actual climbing maneuvers using this initial state dataset. The climbing policy allows the character to move to the target location using limbs more evenly in a natural posture. Experiments have shown that the proposed method can effectively explore the space of good postures for climbing and use limbs more evenly. Experimental results demonstrate the effectiveness of the proposed method in exploring optimal climbing postures and promoting balanced limb utilization.

• Journal of Korean Society of Transportation
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• v.12 no.1
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• pp.151-172
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• 1994

The objective of study is to evaluate design standards related to the allowable truck speeds, taper length and sign requirements together with the operating practices and economic justification for climbing lanes. Field surveys were carried out on seven climbing lanes, three on two-lane and four on four-lane freeways. Data collected are traffic volume, speed, usage rate and delay. It is found that current design criteria for determining the length of climbing lane, taper lengths, and traffic sign requirements must be upgraded. It is also recommended that regulations on the use of climbing lane be established to make it more effective. Further, economic analysis revealed that the climbing lane is economically justified for two-lane and four-lane freeway if the AADT is over 4,577 and 5,116 vehicles respectively.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.35-42
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• 2008

Most of tasks for vertical surface work in shipyard have been accomplished by human workers. However, such manual work often causes injury to workers, also the production cost becomes high due to increasing individual wage. To cope with the circumstance, shipbuilding companies try to introduce wall-climbing robots for carrying out such kind of tasks. In designing a wall-climbing robot, it is essential to minimize its own weight to improve the performance such as moving speed and power saving. For such purpose. this study proposes a method of optimal design for a wall-climbing robot using a genetic algorithm with multi-objective function. Specifically, the thickness of the robot base is minimized to reduce the weight while maintaining the allowable strength and avoiding the resonance frequencies. The proposed method is applied to the design of a wall-climbing robot, and the result shows that the method is useful at an early design stage.