• Physical Therapy Korea
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• v.14 no.3
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• pp.23-31
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• 2007

The purpose of this study was to determine the influence of high-heeled shoes on walking of obese women as it was already proven an extrinsic factor of knee osteoarthritis in women with normal weight. In this study the aimed therefore in particular was to utilize high-heeled shoes in proving it's causal influence on knee osteoarthritis by measuring the angle and torque of the knee joint. Fifteen obese women (BMI>25 $kg/m^2$) were measured in their twenties. Each angle and torque of their knee joints during walking on 6.5 cm high-heeled shoes and with a bare feet, were compared with each other and analyzed with a 3D motion analysis system. There was no significant difference in walking speed, cadence and stride length between the two conditions. However, there was a significant increase in a double limb support time and the stance phase when walking on high-heeled shoes as when walking with bare feet. The peak knee flexion angle and peak knee varus torque was higher when walking on high-heeled shoes than with bare feet. On the contrary, the peak knee flexion angle in the swing phase was not statistically different. The prolongation of peak knee varus torque was also proven. There was a significant increase in peak knee varus torque in the initial and last stance phases during walking on high-heeled shoes as compared to walking on bare feet. Through the above results, it was proven that when obese women walked on high-heeled shoes, rather than with bare feet, peak knee flexor and varus torque increased along with the changes of the in knee joint angle. Therefore, the influence of high-heeled shoes might be a significant intrinsic factor in knee osteoarthritis of obese women.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1440-1443
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• 2004

Most previous robots had used the wheels as means for movement. These structures were relatively simple and easy to control and this is why the method had been used until currently. However, there are many realistic problems to move from one place to another in human life, for instance, steps and edges. So we need to develop the two-legged walking humanoid robot. The 2-legged walking Robot system has been vigorously developed in so many corporations and academic circles of several countries. However, 2-legged walking Robot has been mostly studied in view of the static walk. We design a stable humanoid Robot which can walk in high-speed through the research of the dynamic walk in this paper. Especially, worldwide companies have been interested in developing humanoid robots for a long time to solve the before mentioned problems so that they can become more familiar with the human form. The most important thing, for the novel two-legged walk, is to create a stable and fast walking in two-legged robots. For realization of this movement, an optimal mechanical design of 12 DOFS, a distributed control and a parallel processing control are implemented in this paper. This paper proves that high speed and stable walking can be achieved, through experiments.

• ETRI Journal
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• v.40 no.4
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• pp.471-482
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• 2018

This paper proposes the necessity of a walking period in footstep planning and details situations in which it should be considered. An optimization-based fast footstep planner that takes the walking period into consideration is also presented. This footstep planner comprises three stages. A binary search is first used to determine the walking period. The front stride, side stride, and walking direction are then determined using the modified rapidly-exploring random tree algorithm. Finally, particle swarm optimization (PSO) is performed to ensure feasibility without departing significantly from the results determined in the two stages. The parameters determined in the previous two stages are optimized together through the PSO. Fast footstep planning is essential for coping with dynamic obstacle environments; however, optimization techniques may require a large computation time. The two stages play an important role in limiting the search space in the PSO. This framework enables fast footstep planning without compromising on the benefits of a continuous optimization approach.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2248-2253
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• 2005

Although the progress in bipedal walking is impressive in recent years, biped robots still require very high torque and can walk only for a short time interval with their internal batteries. Therefore, further research needs to be carried out to enhance walking efficiency of these robots. In order to achieve this goal, we attempt to imitate human walking with pelvis and waist joint rotations in the frontal plane. In order to investigate the effect of the pelvis and waist joint rotations in the frontal plane motion, we study the frontal plane model with a triangular structure made up of a waist joint and two hip joints. Through simulation, we show that the pelvis rotation can reduce the maximum torque and the control effort, and the waist joint rotation can reduce the trunk sway caused by the pelvis rotation. The combination of these two rotations makes the bipedal walking in the frontal plane more efficient.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.459-466
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• 2001

The floor vibration aspect for building structures which are in need of large open space are influenced by the interrelation between natural frequency and working loads. Structures with a long span and low natural frequency have a higher possibility of experiencing excessive vibration induced by dynamic excitation such as human activities. These excessive vibrations make the residents uncomfortable and the serviceability deterioration. Need formulation of loads data through actual measurement to apply walking loads that is form of dynamic load in structure analysis. The loads induced by human activities were classified into two types. First type is in place loads. the other type is moving loads. A series of laboratories experiments had been conducted to study the dynamic loads induced by human activities. The earlier works were mainly concerned to parameters study of dynamic loads. In this Paper, the walking loads have been directly measured by using the measuring plate in which two load cells were placed, the parameters, the load-time history of walking loads, and the dynamic load factors have been analyzed. Moreover, the shape of the harmonic loads which were gotten by decomposition the walking loads have been analyzed , and the walking loads modeling have been carried out by composition these harmonic loads derived by functional relation.

• Journal of Korean Physical Therapy Science
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• v.28 no.3
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• pp.76-87
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• 2021

Background: The purpose of this study was to evaluate the effects of power walking and square dancing on middle-aged women with hypertension. Design: Randomized controlled Trial. Methods: 30 middle-aged women with hypertension were selected and divided into two groups. 15 cases in the control group received routine treatment, and 15 cases in the intervention group received community vigorous walking and square dancing intervention on the basis of routine treatment. The intervention time was 40-60minutes/day, 5days/week, total 16 weeks. total cholesterol (TC), triglycerides (TG), high density lipoprotein cholesterol (HDL), low density lipoprotein cholesterol (LDL), angiotensin II (Ang II), Leptin, blood pressure, and heart rate were measured. Results: Body weight, body mass index (BMI), TC, TG, LOW-density lipoprotein, angiotensin II, leptin, systolic blood pressure and heart rate were significantly reduced after power walking and square dancing (p<0.05). After the experiment, TC and TG in the experimental group were lower than those in the control group (p<0.05), while HDL was higher (p<0.05). Conclusion: The results of this study suggest that power walking exercises and square dances are significant effects on lipid mechanism and heart rate.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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• pp.1067-1075
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• 2002

The system error model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. The walking navigation system (WNS) that calculates navigation information through walking detection has small error than INS, but the error also increases with time. In order to improve reliability of the system regardless of time, WNS is integrated with GPS. Since WNS is usually used in urban area, the blockage of CPS signal is frequently occurred. Therefore tightly coupled Kalman filter is used for the integration of WNS and GPS. In this paper, the system model for the design of tightly coupled Kかm filter is designed and measurement is linearized in consideration of moving distance error. It is shown by Monte Carlo simulation that the error is bounded even through the number of visible satellite is less than 4.

• The Korean Journal of Emergency Medical Services
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• v.24 no.2
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• pp.39-50
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• 2020

Purpose: This study aimed to compare the effect of chest compression and the resulting ventilation volume in walking cardiopulmonary resuscitation (CPR), straddling CPR, and mechanical CPR while moving manikins to main stretchers. Methods: We compared the chest compressions in terms of compression depth, number of incomplete releases, complete release depth, compression rate, duration between peak time of previous compression and peak time of current compression, and respiration. We analyzed the compression comparatively with the ventilation volume in three different types of CPR. Results: The chest compression depth was significantly improved during straddling CPR as compared to walking CPR, during which women were unable to achieve sufficient chest compression depth. A constant chest compression depth was maintained during mechanical CPR. Conclusion: High-quality chest compressions were difficult to achieve in moving spaces. Further, walking CPR may be helpful in men, but straddling or applying automatic chest compressions in women would result in more effective CPR. Our findings demonstrate the limitations and trends in administering CPR in men and women, which may be useful in devising better education and training methods in the future.

• Knowledge Management Research
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• v.19 no.1
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• pp.59-77
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• 2018

The tourism industry is now changing to smart tourism, which maximizes tourists' overall tourism experience with the use of advanced mobile technologies and emphasizes the utilization of tourism information. Despite the quantitative expansion of the tourism industry, there is a lack of academic and practical discussion on tourism safety. Especially, in the context of walking tourism, tourists are more likely to be exposed to natural or social disasters and emergencies. Therefore, it is necessary to build a system that can provide walking tourists with safety information not only on dangerous factors which are anticipated to be confronted during a walking trip in advance but also on specific dangers in real time. Under the circumstances, this study seeks to identify the types of tourism safety information that can be offered by using publicly available open data, drawing on the safety information framework on the walking tourism that is presented in Choi et al. (2017)'s study. More specifically, this study focuses on the use of open data which is provided by the Korean government. Furthermore, this study verifies the types of safety information that are most urgently needed in walking travel situations. Specifically, this study aims to derive the importance and priority of each type of safety information for a walking trip by applying the analytic hierarchy process (AHP) analysis. For this, we collected 35 questionnaires from walking tour operators (practitioners) and walking tourists. The main results are as follows. First, natural disaster information is the most important factor in the top-level factor of safety information for walking tourists, followed by social disaster, life safety, and exhibition (security crisis) information. Second, information on natural disasters, environmental pollution, and weather is considered to be important at the sub-level factor. Lastly, the noteworthy result of this study is that the importance of each type of safety information varies depending on the walking tour operators (practitioners) and the walking tourists. That is, there is a recognition difference between the operator (practitioner) and the user in the importance and priority of the safety information of the walking trip. Therefore, it is necessary to develop policies and services reflecting the opinions of potential users when providing safety information so that the most importantly recognized information can be provided first.