• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.4
• /
• pp.350-356
• /
• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Journal of Korean Association for Spatial Structures
• /
• v.15 no.2
• /
• pp.79-86
• /
• 2015

This study investigated the embedded depth of guardrail posts through 3-D soil material model and carried out evaluation of the dynamic performance of guard rail. In order to calculate for embedded depth of sloping ground, displacement of guardrail posts is analyzed according to the embedded depth of experiment variables. Through the static test of guardrail posts, the maximum deflection was found to decrease the interval. By performing the dynamic test using the Bogie Car, that is confirmed the elastic modulus of the soil occuring the maximum deflection. Guardrail posts is considered to need for further reinforcement in the larger slope than the plains. This study researched about maximum displacement and deviation velocity through dynamic performance of guardrail system and conducted analysis about protection performance evaluation of passenger.

• Korean Journal of Applied Biomechanics
• /
• v.29 no.2
• /
• pp.97-104
• /
• 2019

Objective: The aim of this study was to investigate the strategies for avoiding moving and stationary walker using body segments during walking. Method: Ten healthy young adults (10 males, age: $24.40{\pm}0.49yrs$, height: $175.80{\pm}5.22cm$, body mass: $70.30{\pm}5.22kg$) participated in this study. Each participant was asked to perform a task to avoid collisions with another walker who was moving or stationary during walking on the 10 m walkway. Both walkers were performed at natural self-selected walking speed. Results: Medio-lateral avoidance displacement of the trunk and the pelvis were significantly increased when avoiding a stationary walker (p<.05). There were no significant differences in medio-lateral center of mass trajectory. Rotation angle of trunk, pelvis and foot on the vertical axis were significantly increased when avoiding a stationary walker (p<.05). Conclusion: Based on our results, when another walker moves continuously, the walker recognizes another walker as the object of social interaction and performs the avoidance strategies while expecting the cooperative distance. On the other hand, when another walker is stopped, it is determined that the walker has an obligation to avoid, and the walker performs a relatively safer avoidance strategy.

• Korean Journal of Applied Biomechanics
• /
• v.31 no.1
• /
• pp.30-36
• /
• 2021

Objective: The objective of the present study was to analyze the relationship between strength of the lower extremity's joints and their local dynamic stability (LDS) of gait in elderly women. Method: Forty-five elderly women participated in this study. Average age, height, mass, and preference walking speed were 73.5±3.7 years, 153.8±4.8 cm, 56.7±6.4 kg, and 1.2±0.1 m/s, respectively. They were tested torque peak of the knee and ankle joints with a Human Norm and while they were walking on a treadmill at their preference speed for a long while, kinematic data were obtained using six 3-D motion capture cameras. LDS of the lower extremity's joints were calculated in maximum Lyapunov Exponent (LyE). Correlation coefficients between torque of the joints and LyE were obtained using Spearman rank. Level of significance was set at p<.05. Results: Knee flexion torque and its LDS was negatively associated with adduction-abduction and flexion-extension movement (p<.05). In addition, ratio of the knee flexion torque to extension and LDS was negatively related to internal-external rotation. Conclusion: In conclusion, knee flexion strength should preferentially be strengthened to increase LDS of the lower extremity's joints for preventing from small perturbations during walking in elderly women.

• Korean Journal of Applied Biomechanics
• /
• v.31 no.1
• /
• pp.37-43
• /
• 2021

Objective: The purpose of this study was to investigate the effect of mobile phone text messaging on the collision avoidance strategy for an approaching and stationary pedestrian. Method: Eighteen healthy young adults participated in this study. Each participant was asked to perform a task to walking with/without mobile phone text messaging and a task to avoid collisions with another pedestrian who was approaching or stationary during walking. Results: When text messaging with avoidance collision, it showed an early onset time, a larger mediolateral COM trajectory, trunk rotation angle and trunk rotation velocity (p<.05). Also, compared to an approaching pedestrian, when avoiding collision with a stationary pedestrian, it showed a later onset time, a lager avoidance displacement, mediolateral COM trajectory, trunk rotation angle (p<.05). Conclusion: Results suggest that mobile phone text messaging while collision avoidance leads to delay the perception stage and alters the adaptation stage. Consequently, pedestrian executed in an exaggerated avoidance action to create a greater safety margin when attending to mobile phone test messages while avoiding another pedestrian.

• Smart Media Journal
• /
• v.13 no.5
• /
• pp.9-18
• /
• 2024

Multi-Object trajectory modeling is a major challenge in MOT. CenterTrack tried to solve this problem with a Heatmap-based method that tracks the object center position. However, it showed limited performance when tracking objects with complex movements and nonlinearities. Considering the degradation factor of CenterTrack as the dynamic movement of pedestrians, we integrated the EKF into CenterTrack. To demonstrate the superiority of our proposed method, we applied the existing KF and UKF to CenterTrack and compared and evaluated it on various datasets. The experimental results confirmed that when EKF was integrated into CenterTrack, it achieved 73.7% MOTA, making it the most suitable filter for CenterTrack.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
• /
• v.9 no.5
• /
• pp.427-436
• /
• 2019

This study investigated the effect of extracorporeal shock wave therapy on the knee angle, MAS, and TUG of the affected side in patients with hemiplegic strokes. This study selected 20 patients who received rehabilitation treatment at a hospital after having been diagnosed with stroke. The control group (n=10) received the general physiotherapy (proprioceptive neuromuscular facilitation), and the experimental group (n=10) applied the extracorporeal shock wave therapy (ESWT) to the injured limb after PNF treatment. This study used an integrated kinematics analyzer (4D-MT, Relive, Korea) to analyze walking, timed up and go test to evaluate the dynamic balance ability of patients, and MAS to evaluate the spasticity. In the study results, knee angle were significantly different in all groups(p<0.05) but there was no significant difference between the groups(p>0.05). In the study results, TUG were significantly different in all groups(p<0.05) but there was no significant difference between the groups(p>0.05). Based on the results of this study, I hope that more detailed research will proceed.

• The Journal of Korean society of community based occupational therapy
• /
• v.5 no.2
• /
• pp.31-42
• /
• 2015

Objective : The aim of this study is to prove the effects of mental practice in balance ability of elderly population, and to investigate the possibility of application as an effective intervention method for fall prevention. Methods : This study provided mental practice to 3 subjects over 65 years old who have experienced fall, but do not have cognitive dysfunctions and independent in gait without any use of assistive devices from July to October, 2013. Within the individual case study, 4 sessions of initial baseline process (A), 5 sessions of mental practice (B), 4 sessions of re-initial baseline process (A') were proceeded using ABA design. Independent variable used mental practice for enhancing balance ability and fall efficacy in elderly population, and dependent variable were Berg Balance Scale (BBS) to find out the change in overall balance ability, Fall Efficacy Scale (FES) to see the change in fall efficacy, One-Leg Standing test(OLS), and Timed Up and Go Test (TUG) to determine the changes in both static and dynamic balance. Analysis of the results were provided via mean value and graph. Results : After the application of mental practice method, all of the subjects have shown increase in fall efficacy baseline values, and in addition, overall balance ability and both static and dynamic balances either increased or maintained. Conclusion : This study demonstrated that mental practice has positive effects on fall efficacy improvement and maintenance in elderly, thereby suggesting mental practice for fall prevention in elderly populations.

• The Journal of the Korea Contents Association
• /
• v.16 no.8
• /
• pp.395-403
• /
• 2016

Recently, Image processing has been used in many areas. In the image processing techniques that a lot of research is tracking of moving object in real time. There are a number of popular methods for tracking an object such as HOG(Histogram of Oriented Gradients) to track pedestrians, and Codebook to subtract background. However, object extraction has difficulty because that a moving object has dynamic background in the image, and occurs severe lighting changes. In this paper, we propose a method of object extraction using depth image and color image features based on ROI(Region of Interest). First of all, we look for the feature points using the color image after setting the ROI a range to find the location of object in depth image. And we are extracting an object by creating a new contour using the convex hull point of object and the feature points. Finally, we compare the proposed method with the existing methods to find out how accurate extracting the object is.

• Korean Journal of Applied Biomechanics
• /
• v.21 no.3
• /
• pp.309-315
• /
• 2011

The purpose of this study was to evaluate the effect of asymmetric muscle force in lower extremity on dynamic balance during walking. Sixteen elementary students(age: 12.3${\pm}$0.7 yrs, height: 149.4${\pm}$9.7 cm, weight 40.6${\pm}$7.8 kg) who have no musculoskeletal disorder were recruited as the subjects. Temporal parameters, M-L inclination angle of XCoM-CoP, M-L and A-P CoP, loading rate, and decay rate were determined for each trial. For each dependent variable, a independent-sample t-test was performed to test if significant difference existed between each conditions(p<.05). The displacement of antero-posterior COP during RTO-LHC1 in SG was siginificantly smaller than corresponding value in AG. In contrast, the displacement of medio-lateral COP during RTO-LHC1 in SG was greater than those of AG. It seems that imbalance of muscle force may result in increasing the medio-lateral stance in order to minimize the instability. We found that the asymmetric muscle force in the lower extremity may be a reason for the awkward control of impact force.