• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.639-644
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• 2003

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1996년도 춘계학술대회
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• pp.339-342
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• 1996

Vertical ground reaction forces on a treadmill were measured at different walking speeds using two tandem force plates. Comparing vertical ground reaction forces in treadmill walking with those in ground free walking, treadmill walking overestimated the first and second peak forces. With the increase of the walking speed, this phenomenon becomes more significant. In treadmill running, the first peak force reached 210-280% of the body weight. However, the instrumented treadmill showed a great potential to investigate the kinetics for multiple foot-strike measurements.

• 한방재활의학과학회지
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• 제26권3호
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• pp.109-117
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• 2016

Objectives The purpose of this study was to investigate the correlation between walking ability of lumbar spinal stenosis patients and the cross-sectional area (CSA) of lumbar paraspinal muscles. Methods This study was carried out on 62 lumbar spinal stenosis patients who had limited walking abilities because of neurogenic claudication (NC). All patients received more than 2 weeks of complex treatment at Mokhuri Neck&Back Hospital. CSA of lumbar paraspinal muscles was measured from axial T2-weighted MRI and divided by CSA of adjacent vertebral body to avoid influence of body statues (RCSA-Relative CSA). Pain Free Walking Distance and Numerical Rating Scale (NRS) was measured before and after treatment. Results The Pain Free Walking Distance had significantly increased in patients who had bigger RCSA of psoas muscle (r=0.313, p<0.05). Conclusions The psoas muscle can be a predictive factor for restoring walking ability of lumbar spinal stenosis patients who have limitations walking.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제22권1호
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• pp.7-15
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• 2016

Purpose: There are the number of color tactile walking surface indicators installed in Korea, because of indefinite regulation in blind and vision-impaired persons' tactile walking surface indicators. In case of yellow tactile walking surface indicators, it shows a deviation severe color. In this study, the researchers suggested color and brightness reference for helping blind and vision-impaired persons' walking through analyzing the color references of tactile walking surface indicators and the color luminance between tactile walking surface indicators and sidewalk currently used. Method: Reasonable luminance contrast criteria is suggested by examining ways of improving the recognition and recognition of objects according to color contrast visually impaired through literature review and analyzing standards of tactile walking surface indicators and the Europe, Japan and Australia of color and luminance contrast criteria. And by examining the color of the tactile walking surface indicators reported in Korea currently used to derive the problem presented by the luminance contrast in the reference and comparison. Finally, the visually impaired tactile walking surface indicators is set for color selection criteria for the recognition rate improves. Results: In order to improve the recognition rate to be tactile walking surface indicators of the contrast of the visually impaired and the environment than the color of the tactile walking surface indicators itself to secure always a certain level or more of brightness contrast values in the set of the color of the tactile walking surface indicators so important. Implication: In order to set the blind tactile walking surface indicators color recognition based on the verification of the real pedestrian based on the results presented in this paper it is required. It is to be understood as an element of the barrier free configuration for securing the walking pedestrian safety.

• 한국운동역학회지
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• 제17권4호
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• pp.1-8
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• 2007

The purpose of this study was to investigate the difference in the stride-to-stride variability between two treadmill conditions; traditional treadmill and special treadmill whose speed can be adjusted automatically by subject's walking speed. Eight male subjects (25.1 years, 172.7 cm, 66.6 kg) were participated in treadmill walking experiment. First, preferred walking speed (PWS) of each subject was determined. Second, each subject performed walking experiment with fixed PWS condition and with free PWS condition for 10 minutes. 3D motion capture system (Motion analysis Corp., USA) with 6 cameras was used to collect motion data with sampling frequency of 120Hz. Temporal and spatial variables for stride-to-stride variability were calculated. Coefficient of variance (CV) which quantifies the amount of variability and Detrended Fluctuation Analysis (DFA) which explains the structure (self-similarity) of the variability were used for analysis. Results showed that the amount of variability during free PWS condition was greater than that of fixed PWS condition. DFA results showed that there was a statistical difference between two treadmill conditions for the variables of step length, stance time, and double support time. From these results, it is possible that traditional treadmill study might give incorrect conclusion about gait variability study. Further study is necessary to clarify these matters by considering the number of subjects, experimental time, and gait variables for the study of stride-to-stride variability.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제10권2호
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• pp.125-133
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• 2004

Safety, accessibility and distinguishment as the concept of architectural planning and design are demanded in staircases due to increase of the old aged people and disabled people's enlarged social participation. In this research is tried to provide the importance of vertical walking function at the design for the staircases. For this reason, structural elements of the staircases are studied in the ergonomic aspect for barrier-free environment and a comparative study is made on the regulations of the staircases in the inside and outside of the country in disabled & aged people's view. Based on this study, the quality of the staircases in public facilities and Apartments is analyzed. As the result, it has been proved that the vertical walking function of the staircases is the most fundamental characteristic of the staircases design before everything else.

• 한국환경복원기술학회지
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• 제19권1호
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• pp.135-153
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• 2016

This study is aimed at grasping improvement factors of Cheonho Park, Gandaemae Park and Hunlyunwon Park as barrier free friendly parks. For this study, current status of parks, users' state and satisfaction were analyzed in October, 2014 and September, 2015. To detect current status, period of designing, whole size, facility pavement green space area, and main spaces were examined. As for BF status, mediation facilities, leading and guidance facilities, convenient facilities and BF pedestrial passage were analyzed. Also, It examined user behavior and satisfaction by accessibility, convenience and safety items. As a result of status analysis, three parks were designed in 1997~1998. The size of parks were $15,180m^2{\sim}26,697m^2$. As for mediation facilities, the slopes of walking-passage in Cheonho Park and Gandaemae Park were flat. The rate of leading-guidance facilities was 72.7%~93.4%. In the three parks, the effective width of safe pedestrian space within BF pedestrial passages was more than 1.8m. In Cheonho Park and Gandaemae Park, more than 50% of soil and urethane were used as paving materials. Users were the most satisfied with accessibilities in Cheonho Park due to flat-typed walking passages. In convenience, when it comes to using benches and pergolas, it showed significantly different satisfaction in every park. In safety, there were also considerable difference in every park. Overall, it was analysed that the satisfaction with information for safety and facilities was significantly low. Against this backdrop, this study suggests three considerations to recreate parks as barrier free friendly parks. 1) Flat-typed walking passages and enough parking areas near parks should be constructed. 2) Additional rest furniture for convenience should be installed and complemented. 3) Walking oriented-spatial safe facilities for safety should be differently supplemented.

• 대한족부족관절학회지
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• 제12권1호
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• pp.59-65
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• 2008

Purpose: To evaluate the results of anterolateral thigh perforator free flap for reconstruction of foot and ankle in old diabetic patients. Materials and Methods: Fifteen diabetic foot ulcer patients over the age of 55 were operated with anterolateral thigh perforator free flap. Hematological, hemodynamic, diabetic, bacteriologic and radiologic tests were checked with examination of blood vessel state in both the donor site and the recipient site. After surgery, serial check-up was performed at 6 week, 6 month, and 1 year postoperatively on the survival of transplantation tissue, condition of foot, and condition of walking. Results: There are one case of transplantation failure and four cases of partial tissue-necrosis. Delayed wound-healing was observed both recipient and donor tissue sites. At the final follow up, three cases of small ulcer were found at junction of flap and recipient tissue in plantar area. Fourteen out of fifteen patients could walk without any brace or walking aids. Conclusion: Reconstruction of foot and ankle region in old diabetic patients with the anterolateral thigh perforator free flap is a useful method which can prevent the amputation of foot and ankle.

• 농촌계획
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• 제29권3호
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• pp.1-14
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• 2023

Due to the 3 years and 4 months of corona, many things have changed throughout society, such as social activities, free movement, and lifestyle. One of them is the increasing public interest and demand for walking tours. Public awareness of health and leisure activities has increased due to lifestyle changes, aging, and urbanization following the spread of infectious diseases such as COVID-19, and demand for walking tour services is also increasing. As of 2019, nationwide About 560 'Walking Trails' of 1,849 courses were created, with a total length of 18,000 km. In this study, in a situation where social interest and necessity for walking tours are increasing, studies related to walking tours are reviewed, and sustainable management plans for walking tours are proposed. To this end, the concept and research trends of walking tours were examined through literature related to walking tours, and in-depth interviews were conducted with a total of 17 people, 8 visitors and 9 officials, with Ansan Daebudo Haesol-gil as the target. Visitors In-depth interviews with 180 contents were coded, and 147 effective contents were divided into 20 subcategories and organized into 7 upper categories. In-depth interviews with 101 stakeholders were individually coded, 96 effective contents were divided into 14 subcategories, and organized into 5 upper categories. After that, it was reviewed based on the contents organized through qualitative content analysis, and the Five implications were derived. The significance of this study is that the study was conducted on specific Haesol-gil in the suburbs of the metropolitan area. The limitation of this study was that more detailed investigations and considerations were not conducted on the positive and negative effects of walking tours on the Daebudo area. As a follow-up study, academic arrangements and case studies on regional regeneration through walking tours are required.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제18권1호
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• pp.15-23
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• 2012

The purpose of this research is support blind person's daily walking. In order to achieve the purpose, we investigate how the environmental information is used for their daily walking both in residential and commercial areas considering the characteristics of walking. In the investigation, interview to the persons concerned is carried out and all the conversation with them is recorded with a voice recorder. Moreover, the environmental information that may become clues is plotted on a map together with photos. The results are as follows; (1) Environmental information which the blind persons use is different depending on the role of its own of place, such as place confirmation, direction decision, distance understanding. (2) It is demonstrated that the information acquisition from sound is effective when they especially understand place and location.