• The Journal of Korean Physical Therapy
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• v.25 no.5
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• pp.297-302
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• 2013

Purpose: This study was conducted in order to investigate the kinematic gait parameter of lower extremities with different gait conditions (level walking, stair, ramp) in hemiplegic patients. Methods: Ten hemiplegic patients participated in this study and kinematic data were measured using a 3D motion analysis system (LUKOtronic AS202, Lutz-kovacs-Electronics, Innsbruk, Austria). Statistical analysis was performed using one-way repeated measure of ANOVA in order to determine the difference of lower extremity angle at each gait phase with different gait conditions. Results: Affected degree of ankle joint in the heel strike phase showed significant difference between level walking and climbing stairs, and toe off phase showed significant difference between level walking and climbing stairs, ramps, and climbing stairs. Affected degree of knee joint showed no significant difference in all attempts. Affected degree of hip joint in the toe off phase showed significant difference between level walking, ramps and stairs, and climbing ramps. Swing phase showed significant difference between sides for level walking and stairs, climbing ramps. Affected ankle joint of heel strike and toe off, and affected hip joint of toe off and the maximum angle of swing phase in the angle was increased. Unaffected side of the ankle joint, knee joint, and hip joint showed a significant increase in walking phase. Conclusion: These findings indicate that compared with level walking, different results were obtained for joint angle of lower extremity when climbing stairs and ramps. In hemiplegia patient's climbing ramps, stairs, more movement was observed not only for the non-affected side but also the ankle joint of the affected side and hip joint. According to these findings of hemiplegic patients when climbing stairs or ramps, more joint motion was observed not only on the unaffected side but also on the affected side compared with flat walking.

• International Journal of Highway Engineering
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• v.12 no.2
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• pp.91-97
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• 2010

This study started from the problem recognition of climbing lane installed in Korea roads. Because design standards of climbing lane installed don't match traffic pattern of korean drivers, coefficient of utilization of climbing lane is low and merging section between climbing lane and main lane has traffic accident possibilities. For this, brand-new design standards developed from the present lane design criterion, taper lenghs, and traffic signs, then field adoption test was carried out to prove the effectiveness. As a result, coefficient of utilization of climbing lane and average traffic velocity in climbing section are improved and the economic analysis also shows that brand-new standards has high feasibility for low cost. In case of broad application to not only expressway but national and local road based on the study, it could be a significant contribution to traffic flow improvement.

• International Journal of Highway Engineering
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• v.17 no.6
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• pp.85-95
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• 2015

PURPOSES : The objective of this study is to analyze factors affecting traffic accident severity for determining countermeasures on freeway climbing lanes. METHODS : In this study, an ordered probit model, which is a widely used discrete choice model for categorizing crash severity, was employed. RESULTS : Results suggest that factors affecting traffic accident severity on climbing lanes include speed, drowsy driving, grade of uphill 3%, gender (male offender and male victim), and cloud weather. CONCLUSIONS : Several countermeasures are proposed for improving traffic safety on freeway climbing lanes based on the analysis of crash severity. More extensive analysis with a larger data set and various modeling techniques are required for generalizing the results.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2010.05a
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• pp.33-36
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• 2010

The attention in construction Automation is getting higher since it could be the answer to the lack of skilled labor by decrease in construction population and aging which adversely affects productivity and quality in the construction site. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation)system. Climbing hydraulic robots system is a part of RCA system and makes Construction factory(CF) climb through the guide rail on the core wall. The safety of climbing hydraulic robots system is at issue due to the overloaded weight of CF. Preventing this issue, present study did the design verification through the structural analysis and the simulation. Mock-up test also was done to analyze the drive performance of climbing hydraulic robots system.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.427-433
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• 2013

Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body-flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair-climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.213-222
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• 2015

This paper presents a column-climbing robot with a mechanical manipulator, which can spirally go up and down a column using wheels. The developed robot can do useful works using the manipulator at the top of a column, e.g., electric pole while communicating wirelessly with an operator panel. It is driven using a battery without any power cables, and the average duration of power is at least one hour. The robot has a function to detect a work object using an optical sensor installed at the bottom of the manipulator. The spirally column-climbing robot developed is demonstrated by experimental works and also by showing it at an exhibition.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2009.05b
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• pp.15-19
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• 2009

As robotic technologies have become more actively utilized to automate many construction tasks, they have been able to improve the construction productivity, quality, and workers safety on site. A new system, of which Robot-based Construction Automation (RCA), is currently being developed, and RCA systems consist of Construction Factory(CF), Automated Bolting Robots, and Climbing Hydraulic Robot. Especially. Climbing Hydraulic robot system is very important to RCA systems because of function as lifting the Construction Factory. In this paper, We validate safety of Climbing Hydraulic Robot system before application for real building construction.

• Archives of Pharmacal Research
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• v.24 no.6
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• pp.613-617
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• 2001

The present study examined the hypothesis that NMDA, AMPA/Kainate, and metabotropic (mGlu) glutamate receptors contribute to a behavioral stimulation induced by activation of dopamine receptors by comparing responses in apomorphine-induced cage climbing behaviors in mice. MK-801, CNQX, and MCPG were served as the NMDA receptor, AMPA/Kainate receptor, and mGlu receptor antagonist, respectively, to elucidate the glutamatergic modulation in apomorphine-induced eopaminergic activation in mice. Drugs were administered intracerebroventricularly (i.c.v.) into the mouse brain 15 min before the apomorphine treatment (2 mg/kg, s.c.). 1.c.v. injection of MK-801 inhibited the apomorphine-induced cage climbing behavior dose-dependently. However, treatments with CNQX and MCPG did not any significant change in apomorphine-induced cage climbing behavior in mice. These results suggest that stimulation of NMDA type of glutamate receptors could contribute to the dopaminergic sti mutation, but not AMPA/Kainate and mGlu type glutamate receptors.

• Journal of Korea Game Society
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• v.17 no.5
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• pp.133-142
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• 2017

Recently, screen climbing contents such as sports climbing learning program and screen climbing games. Especially, there are many researches on screen climbing games. In this paper, we propose the skeleton correction method based on the body area of a climber to improve the posture recognition accuracy. The correction method consists of the modified skeletal frame normalization with abnormal skeleton joint filtering, the classification of body area into joint parts, and the final skeleton joint correction. The skeletal information obtained by the proposed method can be used to compare the climber's posture and the ideal climbing posture.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.89-99
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• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.