• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• 한국전문물리치료학회지
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• 제15권2호
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• pp.54-63
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• 2008

The purpose of this study was to examine the effect of the hip internal rotation on knee extensor and hip abductor electromyographic (EMG) activity during stair up and stair down mobility. Eighteen healthy subjects were recruited. All subjects performed stair up and down movements on a step of 30cm height while maintaining the hip in neutral (condition 1) and hip in internal rotation (condition 2). Surface EMG activity was recorded from five muscles (gluteus maximus, vastus lateralis (VL), vastus medialis oblique (VMO), posterior gluteus medius (Gmed), and tensor fascia latae (TFU)) and hip internal rotation angle was measured using a three dimensional motion analysis system The time period for stair up and down was normalized using the MatLab 6.5 program, and EMG activity was normalized to the value of maximal voluntary isometric contraction (%MVIC). The EMG activities according to the hip rotation (neutral or internal rotation) during the entire time period of stair up and down in each phase were compared using a paired t-test. During the entire period of stair up, the EMG activities of VL and TFL in condition 2 were significantly greater than in condition 1 (p<.05). During the entire period of stair down, the EMG activities of VL and TFL in condition 2 were significantly greater than in condition 1 (p<.05). However, the EMG activities of the other muscles were not significantly different between the conditions (p>.05). These results suggest that the stair up and down maintaining hip internal rotation was could be a contributing factor on patellar lateral tracking.

• PNF and Movement
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• 제15권1호
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• pp.105-113
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• 2017

Purpose: The purpose of this case study was to examine the effects of an intervention based on the concept of proprioceptive neuromuscular facilitation (PNF) on the weight-supporting ability, fear of falling, and stair-walking ability of stroke patients. Methods: One pretest, three intervention sessions, and one posttest were conducted. In the tests, weight-supporting ability, manual muscle strength, the fear of falling, and the time to go up and down a 'ㄱ'-shaped stair-walking machine were measured and compared. The intervention was implemented for 30 minutes per day for three days in combination with general rehabilitation. The intervention was planned and implemented based on the concept of PNF, and the goal was for the subjects, after their consent, to walk backward down the stairs. Results: After the intervention, functional improvement was seen in weight-supporting ability and the fear of falling felt when walking down the stairs. Whereas the subjects could not perform the task of walking down the stairs on the 'ㄱ'-shaped stair-walking machine in the pretest, they could perform the task in the posttest, and their stair-climbing speed was greater than before the intervention. Conclusion: This study verified that a PNF-based intervention can improve stroke patients' weight-supporting ability and stair-walking ability. Therefore, this intervention can be clinically applied to stroke patients.

• 대한통합의학회지
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• 제2권3호
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• pp.57-63
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• 2014

Purpose : The purpose of this study was to identify the muscle activity of leg during stair down in the subjects with flatfoot and normal foot. Methods : The fourteen subjects with the flatfoot group and the fifteen subjects with the normal foot group volunteered for this study. All subjects descended the stairs that the height was 20cm and consisted 25 stairs. The target muscles for recording muscle activity were posterior fiber of gluteus medius, vastus medialis and vastus lateralis oblique, semitendinosus and biceps femoris, tibialis anterior, and medial and lateral fiber of gastrocnemius muscles. The muscle activity was recorded using the wireless EMG system. Results : The flatfoot group had significantly lower the muscle activity of posterior fiber of gluteus medius than the normal foot group in stance phase during stair down(p<.05). The flatfoot group had significantly higher the muscle activity of biceps femoris and tibialis anterior than the normal foot group in swing phase during stair down(p<.05). Conclusions : This study proposed that the subject with flatfoot should train the strengthening exercise for posterior fiber of gluteus medius.

• 한국화재소방학회논문지
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• 제12권4호
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• pp.3-12
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• 1998

이 연구는 인간의 중요한 행동습성 중의 하나언 좌회전숨성윷 건축설계에 고려활 경우, 고총건 불의 지상총 피난계단은 좌회전계판(피난층으로 내려갈 때 좌회전하여 내려가도록 설계원 계딴) 으료 설계하는 것이 재실자가 보다 더 안전하고 빠료게 피난하는 데 효과적이라는 것윷 현장조사 및 실험을 통하여 규명하고자 한 것이다. 2 20충 규모의 고층건불윷 이용하여 펴난자가 펴난총으로 내려갈 때의 펴난속도를 측정한 결과, 오른손잡이의 경우는 좌회전계단의 사용이 우회전계탄(피난층￡로 내려갈 때 우회전하여 내려가 도흑 설계된 계란)의 사용시보다 편하고 빠른 반면, 왼손잡이의 경우는 우회전계란의 사용이 좌회 전계딴의 사용시보다 편하고 빠르다는 것윷 확인하였다, 그려고 우려나라논 94% 이상의 사람이 오른손잡이인 것으로 조사되었다 그러나 현재 우려나라 고층건울의 지상총 펴난계단은 조사결과 7 76% 이상이 우회전계딴임을 알 수 있었다. 이렇게 잘못 설계원 펴난계딴의 실태를 감안해 볼 때 이의 시정을 위해서는 판원볍규의 피난계딴 구조기푼에 고총건물의 지상층 펴난계딴은 좌회전계 딴요로 설계하도록 규정할 펼요가 있다.

• 전자공학회논문지B
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• 제32B권10호
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• pp.1269-1279
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• 1995

A mobile robot in a nuclear power plant is usually needed to equip the ability of going up and down stairs for a some kind of inspection. For this purpose, it is necessary for the mobile robot to figure out the size of stairs laid on a navigation path to gurantee robot's moving freely. In this paper, to measure the size of stairs existing in front of a mobile robot we designed the stair size recognition unit which can measure the stair's height and width using an ultrasonic sensor and/or a CCD camera. Also to obtain higher reliability of ultrasonic sensing data we proposed the horizontal sensing method. On the assupmtions that the mobile robot generates a trajectory while ascending stairs, we simulated it on a IBM compatible computer. The result showed that the suggested method satisfied our purpose. In a stair size estimation, the detected stair's height error was about .+-.3mm, and width was about .+-.5mm.

• 한국화재소방학회논문지
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• 제22권1호
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• pp.29-36
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• 2008

본 연구는 화재시 연기발생 또는 정전이 발생한 경우 계단을 통해 안전하게 피난할 수 있도록 축광재료를 부착한 계단의 피난유도에 관하여 조사하였다. 실험조사는 설계 제작된 계단에 35명(1차 20명, 2차 15명)의 학생이 참여하여 계단의 시인성(visibility), 오르내림의 편리성과 안심감에 대하여 실험을 실시하였다. 실험 조사결과 축광재료를 사용한 계단코는 정전시에도 계단의 단 높이 확인이 가능하여 계단 오르내릴 때 편리하고 안심할 수 있기 때문에 어두운 곳에서 사람이 피난 행동할 때에 매우 효과적이었다. 따라서 계단코와 계단참에 축광재료를 설치하면 정전이 되더라도 평소와 다름없이 피난을 할 수 있을 것으로 판단된다.

• Physical Therapy Rehabilitation Science
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• 제7권3호
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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.

• 한국전문물리치료학회지
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• 제16권3호
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• pp.24-31
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• 2009

This study aimed to investigate the effect of differing heel heights on the electromyographic (EMG) activity in vastus medialis (VM) and vastus lateralis (VL) during stair ascending and descending activities. A total of 26 healthy women volunteered to perform stair-ascending and stair-descending tasks with 3 heel heights: barefoot, 3 cm, and 7 cm. The EMG activities of the VM and VL were recorded during the tasks. During the stair ascending and descending tasks, the EMG activities of both VM and VL significantly changed with differing the heel heights (p<.05). Moreover, the EMG activities of VM and VL during the stair ascending task were significantly higher than the corresponding values during the stair-descending task (p<.05). However, there were no significant differences between the VM:VL EMG ratios for the 3 heel heights (p>.05). The VM:VL EMG ratios between the 2 tasks differed significantly in the 7 cm high heel condition (p<.05). Despite an increase in the EMG activities in both VM and VL during stair ascending and descending tasks, there was no change in the relative EMG intensities of VM and VL, which was measured by calculating the VM:VL ratio this result indicates that no VM:VL imbalances were elicited. The relative EMG intensities of VM and VL during stair descent were lower than the corresponding values during the ascent, suggesting that VM and VL may show an imbalance in the eccentric activation during the weight-acceptance phase. This study provides useful information that will facilitate future research on how heel height affects muscle activity around the knee joint.

• 대한의용생체공학회:의공학회지
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• 제32권2호
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• pp.93-104
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• 2011

The purpose of this study was to investigate lower-limb joint torque of the two groups as it changed by somatosensory stimulation during the descent down three stairs of different heights and to describe the difference between the two groups, which are young people group and elderly people group. Subjects of each groups climbed down a stair at four stimulation conditions, which are non-stimulation, tibialis anterior tendon stimulation, achilles tendon stimulation, tibialis anterior - achilles tendon stimulation. Motion capture data were collected using 3D optoelectric motion tracking system that utilizes active infrared LEDs, near infrared sensor and force plate. The obtained motion capture data was used to build 3D computer simulation model. The results show that lower-limb joint torque of the two groups changed with somatosensory stimulation as they descended the stairs and the joint torque of the two groups differed from each other.