• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.413-421
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• 2015

Objective : The purpose of this study was to investigate biomechanical changes of the lower limb including dynamic stability with changes in illumination (300Lx, 150Lx, and 5Lx) and slope (level and $15^{\circ}$ downhill) as risk factors for elderly falls. Method : Fifteen elderly females were selected for this study. Seven infrared cameras (Proreflex MCU 240: Qualisys, Sweden) and an instrumented treadmill (Bertec, USA) surrounded by illumination regulators and lights to change the levels of illumination were used to collect the data. A One-Way ANOVA with repeated measures using SPSS 12.0 was used to analyze statistical differences by the changes in illumination and slope. Statistical significance was set at ${\alpha}=.05$. Results : No differences in the joint movement of the lower limbs were found with changes in illumination (p>.05). The maximum plantar flexion movement of the ankle joints appeared to be greater at 5Lx compared to 300Lx during slope gait (p<.05). Additionally, maximum extension movement of the hip joints appeared to be greater at 5Lx and 150Lx compared to 300Lx during slope gait (p<.05). The maximum COM-COP angular velocity (direction to medial side of the body) of dynamic stability appeared to be smaller at 150Lx and 300Lx compared to 5Lx during level gait (p<.05). The minimum COM-COP angular velocity (direction to lateral side to the body) of dynamic stability appeared smaller at 150Lx compared to 5Lx during level gait (p<.05). Conclusion : In conclusion, elderly people use a stabilization strategy that reduces walk speed and dynamic stability as darkness increases. Therefore, the changes in illumination during gait induce the changes in gait mechanics which may increase the levels of biomechanical risk in elderly falls.

• International journal of advanced smart convergence
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• v.12 no.4
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• pp.386-394
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• 2023

This study investigated changes in salivary cortisol, lactic acid, and heart rate along the route during walking exercise in a forest environment for the purpose of reducing stress. Walking exercise in a forest environment was conducted on a Hill Type (Distance: 800m, Average slope 25°, Altitude 112m) and Step Type (Distance: 800m, Average slope 25°, Altitude 114m) routes for 10 female college students in their 20s. The subjects were asked to walk at a speed of 60 bpm. The resulting changes in salivary cortisol, lactate, and average heart rate during exercise were compared and analyzed using Repeated Measurement two-way ANOVA, and the maximum heart rate during exercise and average heart rate at rest were compared and analyzed using paired t-test, and the following results were obtained. First, there was no significant difference in salivary cortisol depending on the type and period of the forest, but it tended to gradually decrease. Second, there was a significant difference in lactic acid depending on the type and period, and it was higher in Step Type. Third, there was a significant difference in the average heart rate during exercise, and it was higher in Step Type. Fourth, there was a significant difference in maximum heart rate during exercise, and it was higher in Step Type. Fifth, there was no significant difference in average heart rate during rest. In summary, walking exercise in a forest environment can be effective for stress reduction for female college students in their 20s, but it appears that forest routes should be selected according to physical strength level, and walking exercise in a forest environment for long periods of time is not recommended. For this purpose, it is suggested that it is appropriate to select the Hill Type route.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• Proceedings of the Korea Contents Association Conference
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• 2016.05a
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• pp.267-268
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• 2016

This study aimed to examine the therapeutic effects of backward walking. The subjects were randomly assigned to an experimental group of 16 subjects and a control group of 17 subjects. All subjects walked barefoot for twenty minutes on the treadmill (HM50EX, Daeho, Korea) for five times per week for total four weeks. The average gait velocities of subjects were 3 km/h on a slope of 10%. The experimental group walked back and the control group walked forward. The experimental group showed significant increments in variable of medial-lateral, anterior-posterior, step length, velocity compared to the pre-intervention results. In addition, the control group showed significant increments in the anterior-posterior, velocity compared to the pre-intervention results. Significant differences in the post-training gains in variable of anterior-posterior, step length, velocity were observed between the experimental group and the control group. There were positive effects of backward walking on their gait and balance ability after intervention.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• The Journal of Korean Physical Therapy
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• v.20 no.3
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• pp.9-18
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• 2008

Purpose: We determined the effect of global synkinesis(GS) on gait ability, muscle contraction, and central neuron action potentials in post-stroke hemiplegic subjects. Methods: Thirty hemiplegia patients were evaluated for walking ability, muscle contraction, central neuron action potential, and comparing differences between the H-GS(high-global synkinesis) group and L-GS(low-global synkinesis) group. To obtain the GS level, surface electromyography(EMG) data were digitized and processed to root mean square(RMS). Walking ability was tested with a modified motor assessment scale(MMAS), a 10 m walking test, timed up and go(TUG) test, and a Fugl-Meyer assessment(FMA). Muscle contraction ability was measured as maximal isometric contraction(MIC) peak, MIC slope, and MIC ramp up using mechanomyography(MMG). Central neuron action potential was measured as the H/Mmax ratio or V/Mmax ratio using EMG. The data were analyzed with t-tests to determine the statistical significance. Results: MMAS(p<0.01), 10 m walking velocity(p<0.01), TUG(p<0.01), FMA-HKA(Hip, Knee, Ankle)(p<0.05), FMA-coordination(p<0.05), MIC peak (p<0.05), MIC slope(p<0.01), and MIC ramp up(p<0.05) were significantly different between H-GS and L-GS, as was the V/Mmax ratio(p<0.05), but H/Mmax was not. Conclusion: Lower GS levels indicated better walking ability and motor function. Therefore, intervention programs should consider GS levels in gait training of chronic hemiplegia.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.42-48
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• 2011

This paper presents the vibration reduction algorithm at the walking-will recognition sensors on the uneven terrain. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Especially, vibration analysis and impulse reduction are one of the important elements of the active-type walking aid during moving on the outdoor area because the ground has many kinds of obstacles such as speed dumps, puddles and so on. So, we analyze the influence from vibration by uneven terrain. And then, we propose the impulse reduction algorithm to overcome the vibration. All the processes are verified experimentally in an active-type walking aid.

• The Journal of the Korea Contents Association
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• v.10 no.2
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• pp.268-276
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• 2010

This study was to investigate the knee joint flexion angle and the foot pressure during climbing with different slope. The 24 healthy subjects were participated. And foot pressure was investigated using Parotec system. The knee joint flexion angle were filmed to using a video camera on each slope($0^{\circ},\;3^{\circ},\;6{\circ},\;9^{\circ}$). And knee joint angle was investigated by Dartfish. The data were analyzed ANOVAs. In conclusion, there was significantly different that knee joint flexion angle related on each slope angle. In foot pressure, there was significantly different in lateral heel area(1 cell), medial midfoot area(9 cell), medial forefoot area(15, 16 cell) of left foot, and in lateral heel area(3 cell) of right foot. There was significantly different of foot pressure in lateral and medial heel when knee joint flexion angle is between $10^{\circ}$ and $20^{\circ}$. There was change of gait cycle according to walking slop angle increasing, and the initial contact phase was shorter, the foot pressure in lateral heel was lower.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.963-968
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• 2010

This paper handles ZMP based control that is inspired by neural networks for humanoid robot walking on varying sloped surfaces. Humanoid robots are currently one of the most exciting research topics in the field of robotics, and maintaining stability while they are standing, walking or moving is a key concern. To ensure a steady and smooth walking gait of such robots, a feedforward type of neural network architecture, trained by the back propagation algorithm is employed. The inputs and outputs of the neural network architecture are the ZMPx and ZMPy errors of the robot, and the x, y positions of the robot, respectively. The neural network developed allows the controller to generate the desired balance of the robot positions, resulting in a steady gait for the robot as it moves around on a flat floor, and when it is descending slope. In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real time situations, and fed into a neural network inspired controller designed for stable bipedal walking.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.