• 한국운동역학회지
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• 제26권4호
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• pp.413-420
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• 2016

Objective: The purpose of this study was to analyze and compare different kinds of outdoor walking shoes in terms of muscle fatigue and ground reaction force on walking, and to provide foundational data for developing and choosing outdoor walking shoes that fit the users. Method: The study subjects were 30 healthy men. The experiment was conducted by using outdoor walking shoes with different inner and outer harnesses of the midsole, and shapes of the outsole. For data collection, electromyography was used to measure the muscle fatigue of the anterior tibial muscle and gastrocnemii, which contribute to the dorsiflexion and plantarflexion of the ankle joint, and the biceps muscle of the thigh and lateral great muscles, which contribute to the flexion and extension of the knee joint. A GRF measurement device was used to measure the X, Y, and Z axes. Results: In the type A outdoor walking shoes, regarding the hardness of the midsole, the inner part was soft, while the outer part was hard. The vertical ground reaction force was the lowest, which means least impact while walking and light load to the knees and ankles. The type C outdoor walking shoes were intended to provide a good feel in wearing the shoes. The tibialis anterior, biceps femoris, and gastrocnemii indicate low fatigue, which means that during a long-distance walk, it will minimize the fatigue in the muscles of the lower limbs. Conclusion: To sum up the study results, the different types of outdoor walking shoes indicate their unique characteristics in the biomechanical comparison and analysis. However, the difference was not statistically significant. Thus, a systematic and constant follow-up research should be conducted to cope with expanding market for outdoor walking shoes. Lastly, this study is expected to present foundational data and directions for developing outdoor walking shoes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.103-108
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• 1988

A walking robot must have the ability to change the body direction in order to avoid the obstacles. In this paper, we develop a gait control algorithm that can maintain the stable movement of the robot for three different modes of changing directions. The algorithm makes it possible for the robot to have the larger gait stability margin than the threshold value by the method of changing the body speed.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.477-480
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• 2016

Based on the Jansen mechanism theory, a walking robot is developed, which is able to overcome the given obstacles. Taking joint positions and leg directions as design parameters, the walking robot is analyzed. In order to analyze and optimize the leg motion, Edison program and Jansen mechanism optimization solver are used, respectively. It is found that Edison program is so effective to determine joint variables and position of leg direction. With the help of these programs, lots of trials or errors could be saved.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권3호
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• pp.163-169
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. To achieve this goal, we propose a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers have been also presented. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• 한국지능시스템학회논문지
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• 제21권3호
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• pp.353-358
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• 2011

본 논문에서는 이족 로봇을 위한 가상의 다리에 기반한 보행 모델을 제시한 후, 시뮬레이션을 통하여 제시한 보행 모델의 근본적인 롤/피치/요(roll/pitch/yaw) 운동 특성을 분석한다. 이를 위하여 로봇의 무게 중심과 압력 중심에서의 운동 경로를 사람의 발걸음 운동 패턴과 유사한 임의의 패턴으로 설정하고, 이러한 경로를 따라 보행할 경우에 나타나는 주요 관성 성분 특성을 확인한다. 결과적으로, 이족 보행에서 롤, 피치 및 요 방향으로의 운동은 보행과정에서 생성될 수 있는 자연스러운 현상이며, 이것은 발걸음의 간격, 무게 중심의 위치 및 로봇 몸체의 이동가속도와 밀접한 관계가 있음을 보인다. 또한, 이족보행의 밸런스 관점에서 발의 위치 설정을 위한 경로계획의 중요성을 고찰한다.

• 대한인간공학회지
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• 제35권5호
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• pp.319-341
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• 2016

Objective:This research analyzed the lower-limb motion in kinetic and kinematic way while walking on various terrains to develop Foot-Ground Contact Detection (FGCD) algorithm using the Inertial Measurement Unit (IMU). Background: To estimate the location of human in GPS-denied environments, it is well known that the lower-limb kinematics based on IMU sensors, and pressure insoles are very useful. IMU is mainly used to solve the lower-limb kinematics, and pressure insole are mainly used to detect the foot-ground contacts in stance phase. However, the use of multiple sensors are not desirable in most cases. Therefore, only IMU based FGCD can be an efficient method. Method: Orientation and acceleration of lower-limb of 10 participants were measured using IMU while walking on flat ground, ascending and descending slope and stairs. And the inertial information showing significant changes at the Heel strike (HS), Full contact (FC), Heel off (HO) and Toe off (TO) was analyzed. Results: The results confirm that pitch angle, rate of pitch angle of foot and shank, and acceleration in x, z directions of the foot are useful in detecting the four different contacts in five different walking terrain. Conclusion: IMU based FGCD Algorithm considering all walking terrain possible in daily life was successfully developed based on all IMU output signals showing significant changes at the four steps of stance phase. Application: The information of the contact between foot and ground can be used for solving lower-limb kinematics to estimating an individual's location and walking speed.

• The Journal of Korean Physical Therapy
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• 제34권4호
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• pp.161-167
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• 2022

Purpose: The purpose of this study was to investigate the effects of regular training on the uneven surface that stroke patients encounter in their daily life on their ankle joint muscle activity and balance ability. They were divided into two groups: the gait training group on uneven surfaces and the gait training group on normal surfaces. Methods: In this study, 30 patients diagnosed with stroke and undergoing rehabilitation were selected. 15 people in the uneven surface gait training group and 15 people in the flat gait training group were selected. The muscle activation of the ankle muscles was measured when walking again on a even surface after walking on an uneven surface and on a flat ground. After each gait training, the limit of stability and Romberg test were performed to evaluate the balance ability. Results: As a result of the experimental results before and after walking by group, the tibialis anterior muscle activity of the paralyzed side was significantly decreased in the uneven surface walking group. As a result of measuring balance ability after training, the limit of stability in all directions was significantly increased in the uneven surface gait training group, and the area and length moved significantly decreased in the uneven surface gait training group in the Romberg test as well (p<0.05). Conclusion: After walking on uneven surface, it was confirmed that the muscle activity of the ankle joint decreased in normal flat walking, and thus the efficiency of muscle activity was increased. In addition, it was possible to confirm the improvement of the balance ability of the gait training on the uneven surface, and in conclusion, it could be confirmed that it had an effect on the improvement of the walking ability.

• 한국컴퓨터그래픽스학회논문지
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• 제25권3호
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• pp.11-20
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• 2019

본 연구는 시각 장애인의 도보 적응을 위한 새로운 가상현실 체험 환경을 제안한다. 제안하는 가상현실 체험 환경의 핵심은 몰입형 보행 상호작용과 딥러닝 기반 점자 블록 인식으로 구성된다. 우선, 시각 장애인의 입장에서 현실적인 걷기 경험을 제공함을 목적으로 제자리 걸음을 감지하여 걷기를 판단하는 트래커 기반 걷기 처리과정과 시각 장애인의 보행 보조 도구를 가상현실에 적용한 컨트롤러 기반 VR 흰지팡이를 설계한다. 또한, VR 흰지팡이를 활용한 길 안내 과정에서 도로 위의 점자 블록 인지 및 반응 등 종합적인 의사결정을 수행하는 학습 모델을 제안한다. 이를 기반으로 가상현실 도보 체험 환경에 대한 실험을 위하여 실외 도시 환경으로 구성된 가상현실 어플리케이션을 제작하고, 참가자를 대상으로 설문 실험 및 성능 분석을 진행하였다. 결과적으로 제안한 가상현실 체험 환경이 시각 장애인의 입장에서 현존감 높은 도보 체험을 제공하고 있음을 확인하였다. 그리고 제안한 학습과 처리과정이 인도와 차도, 인도 위의 점자 블록을 높은 정확도로 인지함을 확인하였다.

• 한국환경복원기술학회지
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• 제9권2호
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• pp.33-44
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• 2006

The purpose of this study is to establish future directions of environmentally-friendly restoration of Yangjae underground stream and reflect various opinions of inhabitant in the plan and design process. The opinions from the citizens include the economic and environmental suitability of the restoration projects and preference for the future directions of restoration. The citizens are favorable to removing the existing parking lot and want to have jogging course, walking path and bike road in the stream. Different opinions and resulted in preferred facilities and diminishing existing park along the stream depending on the restoration influencing zone. As a result, citizens agree in restoration but they have different opinions about the feasibility of new facilities, streams restoration and central park reduction locally. It is desirable to reflect the opinions of citizens in the process of plan and design of restoration project.

• 한국농촌건축학회논문집
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• 제22권4호
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• pp.35-42
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• 2020

This study evaluated the importance between the major indicators of living SOC in small and medium cities. AHP layer analysis was performed on a group of experts and their importance and priorities were evaluated. The results of the assessment are as follows: First, the village(walking) living zone was considered relatively more important than the local hub(vehicle) living zone. Second, the importance of health care in the local hub(vehicle) living area was assessed to be the most important in the comprehensive evaluation. Third, medical care, care, education and convenience in the village(walking) living area were ranked second, third, fourth and fifth, respectively. Fourth, the relative importance of physical education, learning, physical education, learning, relaxation, culture and village(walking) living areas in the local hub(vehicle) living areas were valued low. It is necessary to seek living SOC policies and directions in consideration of the special nature of urban social structure in small and medium-sized cities in Korea.