• 한국컴퓨터정보학회논문지
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• 제22권2호
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• pp.89-95
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• 2017

There are a variety of apps that are finding their way. And in car navigation, we launched a product that reflects Augmented Reality technology this year. However, existing apps have problems. It is implemented in 2D or 3D, has a large error range because it has been modified in most vehicles, is not updated in real time, and car augmented reality navigation is a vehicle, and a separate device is required, etc. In this study, we implemented a smartphone app for walking directions using augmented reality, and made it possible to intuitively use a route service from a user 's location to a destination. The Dijkstra algorithm is applied to calculate the shortest path to solve the problem of finding the route with the least cost. By using this application, it is possible to use the route search service even in a data-free environment, to solve the inconvenience of the language barrier, and to update in real time, so that the latest information can be always maintained. In the future, we want to develop an app that can be commercialized by using a character in the path to promote it.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• 지역사회간호학회지
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• 제17권2호
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• pp.166-175
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• 2006

Purpose: This study was to evaluate the effects of a rehabilitation exercise program on physical function and mental health status in chronic stroke Patients with hemiparesis Method: This study used a single group experimental design with repeated measures. Data collection and intervention were done from August, 2004 to November. 2004 at a community. Participants were fifteen patients (mean age: 68.6), and a 100 meter walking time and box and block tests were conducted at baseline, 4weeks, and post-intervention (8weeks) Activities of daily living and the levels of depression and anxiety were measured by using SCL-90-R at pre and post Intervention. This program consisted of 1 hour individual exercise 3 times a week for 8 weeks, and it focused on stretching, walking, arm and hand exercise, and hand massage. Result: 1. ADL, IADL, and the 100m walking time in the patients were improved compared with baseline. However. box and block tests was not shown significant improvement compared with baseline. 2. Depression and anxiety scores were improved more than that of baseline. Conclusion: The rehabilitation exercise program can be effective in improving physical function and mental health status, and it has a potential for improving Physical health status in Patients with chronic stroke hemiparesis.

• PNF and Movement
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• 제13권2호
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• pp.111-118
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• 2015

Purpose: The purpose of this study was to describe the effects of proprioceptive neuromuscular facilitation (PNF) on episodes of foot drop and the ability to cross obstacles in stoke patients. Methods: The patient was a 57-year-old man with left hemiplegia. This patient displayed episodes of foot drop while walking and issues with crossing obstacles. The patient underwent therapeutic exercises and occupational therapy twice daily at a hospital five times a week. The patient was treated with PNF outside of these therapeutic sessions. Each session, which was 60 minutes in length, was conducted 3 times a week over 8 weeks. Over the course of treatment, a pre-test and post-test were completed. The patient walked for a test time of 6M. During the testing process, the patient crossed obstacles. In addition, the number of foot drop episodes was recorded. Each test was measured three times to determine the mean value. Results: After the PNF treatments, the number of foot drop episodes decreased from five to one. The 6M walking test time during which the patient crossed obstacles also decreased from 18 seconds to 10 seconds. Conclusion: The use of PNF treatments is beneficial to reduce the number of foot drop episodes while walking and to improve the ability to cross obstacles in stroke patients.

• 한국전자통신학회논문지
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• 제18권4호
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• pp.731-736
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• 2023

보행은 특정 단계를 반복하는 주기적인 동작으로 사람의 기본 이동방법이다. 보행 분석을 통해 여러 가지 근골격계의 건강상태를 판별할 수 있다. 본 연구에서는 공간의 제약 없이 보행 분석을 할 수 있는 착용형 센서 시스템을 제안한다. 거리를 측정하는 ToF(: Time-of-Flight) 센서와 기울기를 측정하는 IMU(: Inertial Measurement Unit) 센서로 보행 중의 뒤꿈치 궤적을 도출한다. 낙상의 위험이 있는 이상보행을 할 때의 뒤꿈치 궤적의 변화 양상을 분석하여 보행을 평가한다.

• 대한물리의학회지
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• 제19권1호
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• pp.155-164
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• 2024

PURPOSE: The purpose of this study was to evaluate the effects of simultaneous application of gaze stabilization exercise and cognitive training on the balance and gait ability in subacute stroke patients. METHODS: Thirty-five patients diagnosed with stroke within 3-6 months were randomly assigned, and the experimental group (n = 18) to which both gaze stabilization exercise and cognitive training were applied and the control group (n = 17) to which only gaze stabilization exercise was applied were targeted. It was performed for 30 minutes at a time, three times a week, for a total of 4 weeks. Berg Balance Scale, Timed Up and Go test, 10Meter Walking Test, and Walking symmetry were evaluated. RESULTS: In the comparison of changes between Berg Balance Scale, Time Up and Go test, 10 Meter Walking Test, and Gait symmetry, both experimental and control groups showed significant differences before and after the intervention, and in the evaluation of Gait symmetry, significant differences between groups. CONCLUSION: As a result of this study, when gaze stabilization exercise and cognitive training were allied simultaneously, it was possible to improve the balance and gait ability of subacute stroke patients, and had a more significant effect on gait ability. In considered that training that simultaneously applies gaze stabilization exercise and cognitive training can be presented as a balance and gait rehabilitation for stroke patients on the future.

• 한국환경과학회지
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• 제19권4호
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• pp.427-436
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• 2010

In this study this author made research and analysis on physical status and characteristics of community parks in Ik-san provinces and also depending on its potential resources such parks were classified into constructed parks and unconstructed parks and status of use of such parks and level of satisfaction were studied. Through this paper this author strived to provide basic data required for forming green track of land for the parks. Required time for visiting community parks either constructed or unconstructed type was within 40 minutes or less. However constructed parks appeared to be more convenient for access in comparison with natural unconstructed parks. Mostly they were used by residents in neighboring community and also residents in the area around it were found as using it frequently. At the time of using community parks either constructed or unconstructed types means of access were mostly by walking or by riding bicycles. Thus considering large number of users of such parks are from neighboring community it appeared that parks with its simplicity and convenience in terms of distance and with rich nature were preferred by users rather than large scale parks at distance. In terms of time frame of use and motivation of visit constructed parks were used mainly for exercise and relaxation in the morning at parks and its facilities whereas un constructed parks were mostly used in the afternoon for for walking and chatting and rest under with time to spare at shadows of its trees. Time spent at parks were composed mostly of rest and walking more frequently than exercise and leisure activity thus it was different from motivation for visiting parks. As for evaluation of use of parks natural elements, unique environment, trees and lawns featured highly in unconstructed parks in comparison with constructed parks. Thus it seemed visitors are more conscious of forest and landscape in a form of unchanged nature. Thus for community parks first consideration should be heightening accessibility in view of primary concern for convenience by users rather than facilities or environmental conditions.

• 한국운동역학회지
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• 제24권2호
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• pp.167-172
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• 2014

The purpose of this study was to investigate walking standard time and joint powers of the lower extremities on the changes of illuminations in the elderly women. Ten older women ($70.90{\pm}3.28$ years, $154.70{\pm}3.47$ cm, $53.80{\pm}5.39$ kg) with normal vision and no gait disabilities participated in this study. All the experiments were performed on a level walkway from low to high lighting (six conditions). A 3-dimensional motion capturing system, force-plate, and EMG were used to acquire and analyze walking motion, force, and muscle activity data; the sampling frequency was 100 Hz, 1000 Hz and 1000 Hz respectively. To test the differences on walking standard time and joint powers of the lower extremities between the six lighting conditions, one-way repeated ANOVAs were evaluated. The following results were drawn: First, mean standard time was about 1.3 sec/stride, and velocities were smaller with lighting increasing except 100 Lx. Second, the joint power patterns of ankle and knee were not consistent, but only hip joint power was a greatest in 6 Lx and a smallest in 400 Lx. Third, standard times(100 Lx<300 Lx, 400 Lx) were statistically significant, and hip joint max powers (100 Lx>others) were also statistically significant. But ankle and knee joint max power were not statistically significant. These results showed that standard times from low to high lighting were not consistent, and hip joint of 100 Lx has a greatest rotational torque. We suggested that gait strategies of them as to changing illuminations were not consistent and findings may represent a lack of adaptability in the elderly women.

• 로봇학회논문지
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• 제2권4호
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• pp.310-316
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• 2007

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.95-97
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• 2005

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.