• 한국농촌건축학회논문집
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• 제20권1호
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• pp.45-52
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• 2018

The purpose of this study is to investigate safety and dangerous awareness of environment on walking trails. For this purpose, questionnaire survey are carried out by people who had experience using walking trails during 2016. It is evaluated that environments of walking trails located inside big cities are inferior than ones located in small and medium-sized cities and countryside in air pollution, bed smell, water pollution, noise, and waste. Needs about management and number installed public restroom are high for hygienic environment of walking trails. With waste treatment, users of 2.4 percentage are showed improper behavior that they left their rubbish at the place out of view but others bring their trash. Accident likelihood is highly appreciated and possibility of physical accident like slipping is showed at the highest. The reasons of accident on walking trails are responded with carelessness of walkers and improper of installation or management of safety facility at the most. For safety environment of walking trails, needs of installation of safety fences and notices of dangerous area are requested. In order to separate prevention from paths of walking trails, signposts are needed at visual clearness, maintenance, installation with proper interval and location, and correct contents. Respondents of 2.4 percentage have experiences of accident on walking trails and physical accident like slipping is occurred at the most.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.238-243
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• 2002

This paper presents a design and a control of a biped walking AGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a biped walking AGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking AGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking RGO-robot.

• 농촌계획
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• 제21권3호
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• pp.59-66
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• 2015

The objective of this study was to investigate the perception of walking environment and use of neighborhood facilities of rural female elderly, who are the most susceptible to ambulatory problems. The study showed that parks, senior centers and hospitals were among the most frequently used neighborhood facilities by rural female elderly, while bus stations and senior centers were recognized as the closest facilities. Frequency of use was higher for paid sports facilities rather than parks. Hospitals and health centers were facilities that were desired to be in close proximity. Social support, self-efficacy, and attitude were the factors that affected walking environment. Street trees, accessibility to parks, and street lights were factors that showed a positive relationship with total time of walking activity while perceived crime rate and slopes were perceived as environmental challenges for groups that walked under 150 minutes per week. One factor that negatively affected walking was the lack of sidewalks on streets. Providing parks and walking trails within neighborhood, pleasant walking environments, and safe sidewalks would contribute to improved perception of neighborhood and walking of older rural women.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.752-759
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• 2002

This paper presented a design and a control of a biped walking RGO and walking simulation by this system. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO type with 12-servo motors. The vibration evaluation of the dynamic PLS on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. The gait of a biped walking RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by a ZMP (Zero Moment Point) of the biped walking RGO. It was designed according to a human wear type and was able to accomodate itself to a human environments. The joints of each leg were adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to recover effectively with a biped walking RGO.

• 한국조경학회지
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• 제39권2호
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• pp.65-72
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• 2011

일상적인 걷기활동과 신체활동은 노인들이 건강한 삶을 유지하는데 필수적인 활동으로, 걷기활동을 지원하고 참여를 촉진할 수 있는 물리적 환경의 제공의 중요성이 점점 커지고 있다. 본 연구는 도시 노인의 걷기활동의 참여 실태를 파악하고, 노인들의 걷기운동 수행과 관련성이 있는 개인적, 물리적 환경요인을 파악하는 것을 목표로 하였다. 이를 위해 수도권 지역의 60세 이상 노인을 대상으로 한 심층면접을 통하여, 일주일 동안의 이동목적이나 운동목적의 걷기활동 참여빈도와 시간을 측정하였으며, 행동변화 단계모델을 바탕으로 보다 정확한 걷기운동 수행 현황을 고찰하였다. 또한 공원 접근성, 보행로 시설, 교통시설 등 물리적 환경에 대한 인식과 만족도 및 평소 걷기활동에 장애가 되는 물리적인 요인들을 조사하였다. 분석결과, 과반수가 넘는 노인들이 규칙적인 걷기운동을 실천하고 있었으며, 행동변화 단계에 있어서는 6개월 이상 걷기운동을 지속하는 유지단계의 노인들 비율도 높았다. 걷기 운동장소로 선호되고 있는 곳은 도보권 내의 공원이나 산책로, 아파트 단지 등이 많았으며, 유료시설의 체육시설이나 실내 운동기구 이용은 상대적으로 낮았다. 또한 걷기운동 빈도에 유의적인 영향을 미치는 물리적 환경 요인으로는 공원접근성, 교통안전, 신호등, 가로등이 있었으며, 소득이 상대적으로 적은 노인들은 걷기운동에 대한 선호도가 보다 높은 것으로 파악되었다. 노인들은 교통안전에 대한 만족도를 매우 낮게 평가하였고, 교통사고에 대한 우려가 걷기활동에 있어 큰 장애가 되고 있는 것으로 조사되어, 노인시설을 중심으로 한 안전한 노인보행환경 개선이 시급한 것으로 나타났다. 본 연구는 도시 노인들의 일상적인 걷기활동 지원 및 증진을 위한 근린환경의 제공, 노인들의 걷기활동 지원 프로그램 마련에 필요한 기초자료를 제공할 수 있을 것으로 판단된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2529-2534
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• 2003

A quadruped walking robot has a superior adaptablility as well as highly adaptable mobility in various environments. These special advantages are outstanding in the mobile robot group. In this work, we introduce the method for omni-directional gait and rotational gait which is the generalized control algorithm to perform any direction commands. In addition, to improve the stability of quadruped walking robot, we performed the optimization between walking angle and sequence of feet. The proposed ideas are applied to the actual design of MRWALLSPECT III(Multifunctional Robot for Wall inSpection version 3) that is designed to inspect of the large surface of industrial utilities. By implementing the proposed idea on the robot, it’s effectiveness is experimentally confirmed.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권12호
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• pp.689-695
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• 2003

Fault-tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault-tolerant tripod gait is proposed and, as a specific form, a periodic tripod gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• 대한교통학회지
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• 제33권3호
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• pp.276-283
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• 2015

각 도시에서는 급증하는 자동차로 인해 보행자의 영역은 줄어들고 있고 보행자를 위한 도로시설의 개선은 향상되지 못하고 있어 보행자는 위험한 교통환경에 노출되고 있다. 이러한 열악한 보행환경은 비교통약자에게도 위험하지만 교통약자에게는 더욱 치명적인 위험요소가 될 수 있다. 본 연구에서는 교통약자의 교통안전을 향상시키고 보행환경을 개선하기 위해 교통약자 유형별로 도로시설 이용특성을 분석하였다. 본 연구의 방법은 교통약자를 대상으로 기존 도로의 보행시설을 이용할 때 느낀 정량적, 정성적 사항에 대한 설문조사를 실시하고 이를 바탕으로 정량적, 정성적 요소를 모두 고려한 의사결정방법인 계층 분석적 의사결정방법(AHP)을 이용한 연구를 수행하였다. 제3계층 분석결과 고령자나 장애인의 경우 일부 유사한 특성을 나타내고 있었으며 차량진출입, 도로의 기울기나 포장불량이 높은 순위의 불편요소로 나타났다. 영유아동반자의 경우 승강기가 없는 육교와 지하도가 1순위로 나타나 고령자, 장애인과 다소 차이가 있는 것으로 분석되었다.

• 보건교육건강증진학회지
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• 제28권4호
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• pp.63-77
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• 2011

Objectives: This study identifies the meaning of walking and its facilitating factors and barriers from the perspective of urban walkers in Seoul. Methods: The participants consisted of twelve people who either lived or worked in Gangnam district of Seoul. The study applied the data collection process featured in the photovoice, in which the participants took photographs and shared their stories through focus group interviews. Results: Walking is regarded as one of the easiest types of physical activity. While walking, participants find mental tranquility, communication opportunities, and a chance to step back from their everyday lives. Facilitating factors include: access to walking-friendly venues and attractive surrounding environments; the participant's assimilation into the surrounding area; having the feeling of ease and relaxation; and friends and family to walk together. Barriers consist of physical factors such as street design and the busy urban streets, insensitive traffic and low civic awareness, and personal situational factors. Conclusions: The benefit of walking exceeds beyond those of physical health promotion. Actions to encourage walking in urban areas should address the multiple meanings perceived by their citizens.