• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.131-136
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• 1988

In this paper we describe a motion control algorithm for a 4-legged robot over slopped terrain and steps. The new concept of the mechanically constrained angle has been introduced and the algorithm has been developed based on the relationship between the gait stability margin and the slope angle. The result then has been extended to the case where the robot walks over steps.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.259-265
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• 2014

The aims of this study are to investigate the walking intention detection of a rollator based on Infraed (IR) sensor measuring knee joint anterior displacement and leg muscle activities. We used Active Walker attached IR sensor to measure the knee joint anterior displacement and EMG signal of leg muscles(rectus femoris, biceps femoris, tibialis anterior, gastrocnemius) were taken by Delsys bagnli-8ch. Subjects were eight healthy males(age $23.7{\pm}0.5years$, height $175.4{\pm}2.3cm$, weight $70.6{\pm}5.6kg$) and they were involved in experiments which had been proceeded 30 minutes a week, during 3 weeks. This system indicates that the knee joint anterior displacement had the distinction increases according to the gait slope and velocity. We showed the increase of the femoral muscle activities along the anterior tilt and the increase of the crural muscle activities along the posterior tilt.

• Physical Therapy Korea
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• v.15 no.4
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• pp.10-17
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• 2008

The purpose of this study was to determine the therapeutic effect of slope changes of the treadmill with body weight-supported training on gait characteristics in patients with hemiplegia. The volunteered subjects were divided into 3 groups based upon slope changes: control group ($0^{\circ}$ incline), $7^{\circ}$ group ($7^{\circ}$ incline), $12^{\circ}$ group ($12^{\circ}$ incline), They were trained the body weight-supported treadmill training (BWSTT) for 8 weeks. All subjects were supported up to 40% of their body weight on the treadmill training and the support was gradually decreased to 0~10% as the subjects were adapted to the training. There were significant improvements of walking velocity, step length of the affected side, the asymmetry ratio of step length in $7^{\circ}$ group (57.80 cm/s, 67.25 cm, .14), $12^{\circ}$ group (71.00 cm/s, 71.00 cm, .11) than control group (40.62 cm/s, 55.00 cm, .74) (p<.05): there were no differences between $7^{\circ}$ group and $12^{\circ}$ group in the all outcomes (p>.05). Both $7^{\circ}$ group and $12^{\circ}$ group scored higher than the control group in those outcomes and finally the effects of slopes changes of the treadmill were effective on gait characteristics of patients. But it s till remains undetermined what degree on the treadmill might be better to train the hemipareric patients. Therefore, more studies are required to look into minutely the changes of slopes of the treadmill influencing on gait characteristics.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.3
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• pp.273-282
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• 2016

There has been growing social interest recently in the movement rights of people with reduced mobility. However, it simply eliminates the temporary inconvenience of walking of people with reduced mobility because it focuses only on supply of institutional facilities. Therefore, we look forward to improving movement welfare by proposing an optimized path finding algorithm for people with reduced mobility that takes into consideration physical elements affecting their movement, such as slope, steps etc. We selected Walking barrier factor by analyzing previous studies and calculated the relative importance of Walking barrier factors using an Analytic Hierarchy Process(AHP). Next, through the fuzzy system, the Walking disturbance level of link, which integrates the weights of Walking barrier factors and the attributes of each link, is derived. Then, Walking path cost that takes into consideration the ‘length’ factors is calculated and an optimized path for people with reduced mobility is searched using Dijkstra’s Algorithm. Nineteen different paths were searched and we confirmed that the derived paths are meaningful in terms of improving the mobility of people with reduced mobility by conducting a field test. We look forward to improving movement welfare by providing a navigation service using the path finding algorithm proposed in this study.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.617-623
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• 2012

In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.886-891
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• 2009

One of the important functions of prosthetic foot is the foot inversion-eversion which is so important when walking on uneven surfaces. The aim of our study was to evaluate the effect of foot eversion angle especially on knee and ankle joint for transtibial amputees by motion analysis. The experimental data were collected from three transtibial amputees and then ten healthy individuals. To simulate walking on side sloping ground, we used custom-made slope (5, 10, 15 degrees). Motion analysis was performed by 3-dimensional motion analyzer for 6 dynamic prosthetic feet. The results showed that knee abduction moments of amputated leg were decreased but those of sound leg were mainly increased as foot eversion angle increased. And ankle abduction moments of sound leg were inconsistent in magnitude and tendency between control and experimental group. Therefore foot eversioncharacteristics should be considered to develop advanced prosthetic foot.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.3 no.1
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• pp.7-13
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• 2009

Recently, the interest on walking assistances in order to assist aged people has increased due to the increase of the aged. However, most walking aid systems have a weakness for a slope because they don't have power. So, they have a weak point which makes users difficult to move when they are weak in the legs. That is why the interest on walking assistances with power has increased. The use of the walking aid systems should be easy because most users are old people. Thus, we produce module to grasp walking intent of users by using various sensors such as potentiometer, FSR(Force Sensing Resistance) Sensor and Stretch Sensor and calculate the response time to the module. Firstly, the response time of handlebar which is a kind of potentiometer is 420ms and Resilience of it is 140ms. Secondly, the response time of handlebar which use FSR Sensor is 320ms and Resilience of it is 220ms. Finally, the response time of the Stretch Sensor is 160ms and Resilience of it is 140ms. The performance of Stretch Sensor is the best among the three kind of sensors.

• Korean Journal of Agricultural Science
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• v.38 no.2
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• pp.235-241
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• 2011

Recently, as people have become more interested in health issues, their demand on forest trails for bush walking exercise has increased. The purpose of the study is to select barrier factors into forest trail for disabled using wheelchairs. As a result this, it has selected 31 barrier factors through the Delphi method. Of all the these factors, the information board of forest trails, showing the location of the trails, has indicated the highest score of importance at 4.50. Next, securing hiker' walking safety space has indicated an importance level of 4.44; both the slope of forest trails and the height of obstacles have indicated an importance level of 4.38; and the effective width of forest trails has indicated the highest score of importance level of 4.33. From these indicated levels of importance, the respondents of the Delphi method consider the safety of users of forest trail' as the most important factor while the physically disables are hiking. That is why these factors have resulted in acquiring relatively higher values.

• Journal of the Korean Society of Physical Medicine
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• v.18 no.2
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• pp.83-92
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• 2023

PURPOSE: This study examined the effect of using a smartphone according to the direction of wearing a bag on muscle characteristics and balance ability in adults in their 20s with chronic ankle instability. METHODS: Twelve people with chronic ankle instability were examined for three weeks. The types of carrying a bag were classified into three conditions: to the right, to the left, and on both sides. The muscle characteristics and balance ability were measured and analyzed. The one-way ANOVA was used to obtain a difference between conditions. RESULTS: A significant difference in the muscle tone of medial gastrocnemius was observed between the dominant group and the non-dominant group. The muscle tone and stiffness of the peroneus longus decreased significantly after walking with a smartphone and carrying a bag. The maximum slope of the forward and reverse directions increased and decreased significantly, respectively, after walking with a smartphone and carrying a bag on both sides. CONCLUSION: In this study, muscle fatigue causes a decrease in muscle tone and stiffness with chronic ankle instability when carrying a heavy back while walking, and there were asymmetric changes in the balance ability. Therefore, adults with chronic ankle instability should carefully avoid carrying a heavy bag for extended times, irrespective of the style or type of the bag.

• Journal of the Korean Applied Science and Technology
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• v.35 no.3
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• pp.695-701
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• 2018

The purpose of this study was to verify prprioception perception and compare between collegiate golfers and non-golfers using tilting platform. Thirty golfers and twenty-eight non-golfers were participated. All participants were performed perception test on the tilting platform. Frequency analysis was performed using SPSS(ver. 24.0) to determine the perception response according to the grade, and performed using independent t-test. Most participants were perceived from $1^{\circ}$ to $2^{\circ}$ of slopes and perceived left-right slope than forward-backward slope. Repeated practice such as walking on the uneven ground or standing on sloped ground might help to improve proprioception perception. Future research using a tilting platform will be to develop the training program.