• Proceedings of the Korea Contents Association Conference
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• 2012.05a
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• pp.181-182
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• 2012

본 연구는 뇌졸중으로 인한 성인 편마비 환자의 계단 높이에 따른 보행 훈련을 통하여 균형과 근활성도 변화를 분석하는데 목적이 있다. 뇌졸중으로 진단받은 편마비 환자 30명을 대상으로 5cm, 10cm, 15cm 높이의 계단 보행 훈련군으로 나누어 계단 보행 훈련을 실시하였으며, 임상적 균형능력 측정도구인 Berg Balance Scale(BBS), Timed up and go(TUG), Functional Reach Test(FRT)와 근활성도를 측정하였다. 연구결과 균형변화에서는 세 군간 계단 보행 훈련 전과 후의 균형 변화량이 통계학적으로 유의한 차이가 나타나지 않았으나(p>.05), 10cm 높이 계단 보행 훈련군에서 가장 큰 변화량을 보였다. 근활성도변화에서는 계단 오르기시 10cm 높이 계단 보행 훈련군에서 넙다리곧은근, 넙다리두갈래근, 장딴지근, 15cm 높이 계단 보행 훈련군에서 모든 근육들이 통계학적으로 유의한 차이를 보였으며(p<.05), 계단 내리기시 근활성도 변화에서는 5cm 높이계단 보행 훈련군에서 앞정강근와 장딴지근, 10cm 높이 계단 보행 훈련군에서 모든 근육들이, 15cm 높이 계단 보행 훈련군에서 넙다리두갈래근, 앞정강근, 장딴지근이 통계학으로 유의한 차이를 나타내었다(p<.05). 따라서, 높이에 따른 계단 보행 훈련은 편마비 환자의 임상적 균형 능력과 근활성도를 변화시키는데 영향을 줄 수 있으며, 특히 10cm 높이 계단 보행 훈련군에서는 다른 높이의 계단 보행 훈련군에서 보다 약간 상대적인 증가를 보였다.

• Journal of Korean Society of Transportation
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• v.20 no.1
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• pp.149-156
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• 2002

본 연구는 보행자 시설 중 계단과 대기공간에 대해 공학적으로 합리적인 분석방법을 제공하고 이를 통해 안전하고 편리한 보행시설의 제공을 도모하는 것을 목적으로 하였다. 본 연구를 위해 계단과 대기공간에 대한 외국의 조사방법과 분석방법을 참조, 비교하여 서비스 수준 결정기준을 정하고 용량 값을 산출하여 우리나라 현실에 맞는 적정한 설계기준을 산출하기 위해 노력하였다. 계단의 경우 효과척도로 보행 교통량을 그리고 대기공간에 있어서는 1인당 점유면적을 사용하였다. 현장 조사 결과 계단에서의 보행량은 보행자가 군을 형성했을 경우와 그렇지 않은 경우 최대 보행량에 차이가 나는 것을 고려하여 보행자 군의 형성 여부에 따라 서비스 수준의 기준을 다르게 제시하였으며, 대기공간의 경우에는 1인당 점유면적을 한국인의 평균체형을 기준으로 하여 서비스 수준의 기준을 제시하였다. 계단과 대기공간에 있어서 이러한 조사와 분석을 통해 산출된 결과는 외국의 경우와 다른 값을 나타내는데, 계단에 있어서는 실질적으로 이용할 수 있는 유효계단 폭에 따라 최대 보행 교통량의 타이가 크게 나타났으며, 대기공간의 경우에는 한사람이 점유 할 수 있는 용량상태에서의 공간이 0.2$m^2$/인으로 외국의 경우보다 적게 나타난다.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.169-178
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• 2008

The goals of this study were to provide data of 3 dimensional ground reaction force(GRF) parameters during stair ascent and descent on three different stair runs and to investigate variability and asymmetry index of them. 10 healthy adults participated in this study and performed 7 different types of gait with 10 trials each. After data analysis, following results were found. Firstly, stair run did not affect on the pattern of GRF parameters, coefficient of variation and asymmetry index. Secondly, a significant different GRF pattern was found between level walking and stair walking. Especially, ascending stair walking has only large Fz1 and small Fz3 while level walking and descending stair walking have a "M" shape connected by Fz1, Fz2 and Fz3. Thirdly, only vertical GRF parameters of stair walking revealed acceptable coefficient of variation and asymmetry index.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Korean Journal of Applied Biomechanics
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• v.19 no.3
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• pp.435-448
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• 2009

The purpose of this study was to investigate the kinemaitc gait parameter of lower extremities with different gait conditions(level walking, stairs, ramp) in old adults. Fourteen healthy older adults participated in this study and kinematic data were measured using 3D motion analysis system(Vicon, Oxford Metrics, England). Statistical analysis was used one-way ANOVA to know the difference of lower extremities angle at each gait phase with a different gait conditions. In sagittal plane, pelvic anterior tilt increased in stairs and ramp climbing and hip and knee flexion increased in stairs climbing but ankle dorsiflexion increased in ramp climbing. In frontal plane, pelvic was up in stairs and hip abduction and adduction more changed in stairs climbing than level walking. Knee varus and ankle inversion increased in stair climbing. In horizontal plane, pelvic internal rotation increased in stairs and ramp climbing and knee internal rotation increased in stairs climbing but ankle external rotation increased in stairs climbing. This results was shown that the stairs and ramp climbing changed the kinematic gait parameters of lower extremities in healthy old adults.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.

• Journal of Korean Society of Transportation
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• v.35 no.5
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• pp.396-408
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• 2017

In Korea, the number of elderly has been increasing rapidly. So it is also expected that the economic activity and the trip frequency of the elderly will increase. On the other hand, elderly related accidents such as falls during walking are steadily increasing and the satisfaction about pedestrian environment of elderly is very low. In this paper, we found one of the reasons for these dissatisfaction in pedestrian facility, which is not considering the walking ability (about 75% of non-elderly person) of the elderly. So, we analyze the kinematic walking characteristics of the elderly with the motion analysis system, when the elderly use stairs. As a result of analysis of various walking variables, the current standard for stairway height in Korean law (18cm) requires excessive force to elderly so it was difficult for elderly to keep the balance of the body in ascending and descending walk of stairs. In this paper, we propose the stair design criteria through the cluster analysis of walking parameters reflecting the gait characteristics of the elderly. This change is not a big for non-elderly person, but it can promote more socioeconomic activities for the elderly.

• Fire Science and Engineering
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• v.25 no.1
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• pp.72-77
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• 2011

The effort of transferring some parts of urban functions to the underground space is growing trend among modem cities because of the limit of horizontal land use, the rise of land value, the diversification of human desire, etc. Thus, the basement of building and the subway station have deepened. It calls our attention to safety about evacuation from the underground space to the ground. Until now, the study about crowding walk in stairs has been progressed, focusing on the crowding walk that is going down the stairs, and there is no study about crowding walk that is going up the stairs. This study measured walking pace by crowd density that is going up the stairs in the subway station stairs making one-way movement of crowd. The actual survey showed that the mathematical relation 'V=0.638-0.0949p' determines going up walking velocity at a gradient of $23^{\circ}$, and the mathematical relation will be 'V=0.597-0.1067p' at a gradient of $30^{\circ}$, when it is converted, based on the average walking velocity of crowd by the slope of the stairs which is recommended by Architectural Institute of Japan.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.65-72
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• 2016

In this study, a fully active transfemoral prothesis with a knee joint is designed considering stair walking conditions. Since the torque at the knee joint required for stair walking condition is relative high compared with the one in normal walking condition, the proposed design has high torque generating mechanism. Moreover, the transfemoral prothesis is designed in compact size to reduce its weight, which is related to comfortable fit and fatigue of patients. Flat type BLDC motor is used for simple and compact structure and various components are used to generate required torque with target working angle and speed. The weight reduction of structure is carried out using optimization method after the initial design process is complete. The optimization is conducted under the load conditions of stair walking. The optimized design is validated via finite element analysis and experiments. As a result, the weight is reduced using topology and shape optimization but maintaining the safety of structure. Also the space efficiency is improved due to its compact size.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.1
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• pp.46-52
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• 2004

In this paper, we introduce a case study of developing a miniature humanoid robot which has 16 degrees of freedom, 42 cm heights, and 1.5kg weights. For easy implimentation, the integrated RC-servo motors are adopted as actuators and a digital camera is equipped on its head. So, it can transmit vision data to a remote host computer via wireless modem. The robot can perform staircase walking as well as straight walking and turning to any direction. The user-interface program running on the host computer contains a robot graphic simulator and a motion editor which are used to generate and verify the robot's walking motion. The experimental results show that the robot has various walking capability including straight walking, turning, and stairs walking.