• 대한건축학회논문집:계획계
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• 제35권1호
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• pp.127-138
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• 2019

This study was to evaluate the walking speed of elderly people by using the travel route big data collected by travel diary and smart phone application. We analyzed the change of walking behavior in the residential street environments of the elderly whether they had a company or not. We interpreted the meaning based on previous studies. In addition, the characteristics of elderly people's use of the residential street environment were analyzed by comparing the change in spatial speed according to the companion. The result reveals that the usage patterns of the residential street environments change depending on whether they were accompanied or not. First, the elderly tend to do more social activities while walking alone than when they were accompanied. When they were accompanied the social activities occur in empty lot near the residential area. However, the social activities of the elderly occur in open space such as neighborhood park or playground while walking alone. Finally, This study has strength that it empirically analyzes the elderly's walking behavior and usage paths in small outdoor spaces, including residential streets.

• 대한건축학회논문집:계획계
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• 제35권1호
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• pp.117-125
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• 2019

The purpose of this study is to examine urban built environments associated with the walking behavior in order to identify the problem of urban infrastructure from the perspective of Universal design theory. Using the walkability criteria developed based on the findings of previous studies on Universal design theory and walking environment, the urban built environments in old town area of Seoul were evaluated. The results of the evaluation indicated that the pedestrian infrastructure in the study area had several shortcomings to improve in order to provide walking-friendly environments. First, the pedestrian infrastructure for visually impaired people were severely limited. Second, walking traffics in large portion of the street networks were interrupted by a variety of obstacles such as parked cars, signboards, and illegal street shops. Third, there were certain areas where the quality of pavement was not properly managed. In summary, this study provides an empirical data to understand the current situation of pedestrian infrastructure in the urban areas. Improvement of pedestrian infrastructure is needed to address the issues related to the mobility of the disabled people. It is also recommended to construct the GIS data on walking environment in order to develop and mange a long-term public investment plan for walking-friendly urban environments.

• 한국환경과학회지
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• 제16권11호
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• pp.1231-1238
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• 2007

The promotion of walking and bicycling is recently a hot topic in the urban planning and design field. Many planners have already examined the many components of the land use-transportation connection and built environment-physical activity link. A rapidly growing area of urban form research is to measure the level of walk-ability in urban environments. With this background, this research conducted a preliminary study to develop the evaluation indicators of pedestrian environments. Based on the literature reviews on walking or pedestrian environments, we proposed the seventeen indicators related with pedestrian facilities, road attributes and walking environment. We also performed a questionary survey to evaluate the satisfaction of their neighborhood pedestrian environments for 302 randomly selected adults living in the City of Changwon, Gyeongsangnam-do. Finally, this research provided the valid model to evaluate the effects of physical environmental factors on the walking satisfaction using factor analysis and multiple regression analysis.

• 대한건축학회논문집:계획계
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• 제35권7호
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• pp.119-126
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• 2019

The active living of the elderly leads to improve their lives and enhance social networks. In the view of the active living, the walkability is an essential factor for the elderly's daily life. To support the active living, making age-friendly environment is important. Considering that the elderly mainly carry out activities through walking, making the age-friendly walking environment is a preliminary action. The existing studies applied various methods such as surveys by experts. In spite of the benefits in theirs, there is still a limitation that current walkability measurement methods did not incorporate the actual elderly's walking activity. Thus, the purposes of this study is to measure the elderly's walking quantitatively using a wearable sensor, and to investigate the feasibility of comparing several walking environments based on the data collected from the actual elderly's walking. To do this, experiment was conducted in four types environments with 22 senior subjects. The walkability was measured by walking stability represented quantitatively as Maximum Lyapunov Exponent (MaxLE). Through the experiment results, it was confirmed that the stability of the elderly walking was different according to the walking environment, which also meant that bodily responses (walking stability) is highly related to walkability. The results will provide an opportunity for the continuous diagnosis of walking environments, thereby enhancing the active living of the elderly.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• Physical Therapy Rehabilitation Science
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• 제7권2호
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• pp.83-87
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• 2018

Objective: The purpose of this study was to investigate the relationship between heart rate (HR), self-awareness of exercise intensity (rating of perceived exertion, RPE), and 5-meter walk test (5MWT) of persons affected by stroke during backward walking according to the preferred stride frequency (PSF), PSF+3 and PSF+6 conditions. Design: Cross-sectional study. Methods: A total of 11 persons with stroke (9 males, 2 females) participated voluntarily. All patients underwent backward walking under the PSF, PSF+3, and PSF+6 conditions in underwater and ground environments, and each condition was performed for 5 minutes. The HR, RPE, and walking speeds were measured during walking, and the measured values from underwater and ground environments were compared. Results: The HR and RPE in the ground environment were significantly increased (p<0.05), and although the 5MWT showed an increase in speed, it was not significant. The HR and RPE in the underwater environment were also significantly increased (p<0.05), however, although the 5MWT results was increased, it was not significant. The HR and RPE were significantly increased in the PSF+6 condition (p<0.05). Conclusions: The results of this study showed that backward gait training underwater can provide an appropriate exercise intensity for stroke survivors and suggests that exercises performed in an underwater environment is more effective compared to the ground environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• Journal of Computational Design and Engineering
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• 제3권3호
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• pp.250-265
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• 2016

Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only "as-planned" situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with "as-is" environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.312-314
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• 2006

Researches on biped robot walking have been mostly focusing on walking on even surfaces. Therefore, robot walking has been only realized on pre-specified spaces with pre-specified movements according to the previous researches. In this paper a walking system for a biped robot using fuzzy system and neural networks to overcome those constraints. The system enables biped walking to be possible in various environments and with more complicated obstacels. For the purpose, a walking robot should recognize its surrounding environment and determine its movement. In the proposed system, a robot dynamically generates its walking trajectories of each joint by using neural networks when facing new obstacle such as stairs, and it maintains its walking stability by using closed loop fuzzy control system which manipulates the waist joints.

• 한국조경학회지
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• 제50권4호
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• pp.53-62
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• 2022

국내 반려동물 양육 가구 수는 매년 증가하고 있으며, 주거지 주변에서 반려견을 산책시키거나 가까운 공원을 찾아 운동하는 반려인들도 증가하고 있다. 본 연구의 목적은 반려인들을 대상으로 근린생활권 내에서의 반려견 산책활동 현황 및 물리적 환경 만족도를 파악하고, 반려견 운동공간인 반려견 놀이터에 대한 지불의사를 조사하는 것이다. 총 249명의 온라인 설문 응답자 중 47.8%가 하루 최소 1회 이상 산책을 하며, 주로 집 주변 산책로나 공원을 이용한다고 응답하였다. 응답자들은 반려견과의 높은 애착도를 나타냈으며, 반려견 산책이 반려견뿐 아니라 양육자 본인의 신체활동과 건강유지에도 도움이 된다고 인식하고 있었다. 한편, 산책로 주변 흥미로운 볼거리, 연결성 등 반려견 산책을 위한 근린생활권의 환경 만족도는 낮은 편이었으며, 목줄 없이 반려견들이 운동할 수 있는 반려견 놀이터 조성에 대한 요구가 높은 것으로 조사되었다. 반려견 놀이터의 가치는 지불의사금액의 절단된 평균을 기준으로 할 경우 85,618원으로 추정되었다. t-검정과 회귀분석을 실시한 결과 산책 빈도와 반려견 시설에 대한 만족도가 지불의사금액에 영향을 미치는 것으로 나타났다. 반려견 산책을 통한 신체활동 증진을 위해서는 근린생활권 내 반려견 산책 환경개선에 대한 관심과 노력이 필요할 것으로 판단된다.