• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.8
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• pp.1901-1906
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• 2010

This classification of walking patterns is important and many kinds of applications. Therefore, we attempted to classify walking on level ground from slow walking to fast walking using a waist acceleration signal. A tri-axial accelerometer was fixed to the subject's waist and the three acceleration signals were recorded by bluetooth module at a sampling rate of 100 Hz eleven healthy. The data were analyzed using discrete wavelet transform. Walking patterns were classified using two parameters; One was the ratio between the power of wavelet coefficients which were corresponded to locomotion and total power in the anteroposterior direction (RPA). The other was the ratio between root mean square of wavelet coefficients at the anteroposterior direction and that at the vertical direction(RAV). Slow walking could be distinguished by the smallest value in RPA from other walking pattern. Fast walking could be discriminated from level walking using RAV. It was possible to classify the walking pattern using acceleration signal in healthy people.

• Journal of Korea Entertainment Industry Association
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• v.14 no.6
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• pp.221-230
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• 2020

The purpose of this study was to investigate the effect of resistance exercise with vibration stimulation methods on static balance and gait parameters in experienced back pain adults. This study was Three group pretest-posttest design. A total of 30 experienced back pain adults voluntarily participated in the study. Subjects were randomly assigned to the resistance exercise with 8 Hz vibration stimulation(n=10), resistance exercise with 30 Hz vibration stimulation(n=10), and lumbar stabilization exercise groups(n=10). The static balance and the gait parameters, as such stance phase, swing phase, stride length and cadence, were measured using balance measuring equipment and gait analysis treadmill at before and after 6 week. Intervention of each group were performed, three times a week for 6 weeks, and 30 minutes a day. The effect of intervention on static balance, stance phase, swing phase, stride length and cadence were significantly differences after 6 weeks in each group(p<.05). In the comparison of the effects between the groups, static balance and stance phase were significantly difference after 6 weeks(p<.05), but in the swing phase, stride length and cadence, there were no significant differences. As a result, it is considered that resistance exercise with vibration stimulation improved leg muscle strength by a mechanism causing muscle contraction, and the strengthened leg muscle enhanced had a positive effect on balance ability. And improved balance ability was considered a more positive effect on walking ability by allowing the body to stably control posture while moving.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1173-1182
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• 1988

The stability, energetic efficiency and walking volume are affected by the geometric structure of legs of a walking robot. A quadruped walking robot is considered to have large stability margin among the walking robots and pantograph leg permits large walk stroke and mutually independent vertical and horizontal movements, but the kinematic characteristics are difficult to analyze. Graphical method may be useful to characterize three dimensional legged motion of the pantograph mechanism. We present the modelling method for three different quadruped robots with pantograph legs that have different joints mechanism. The modeled robots are animated by a path that is planned with respect to the center of body. In particular, graphical animation incorporates leg control to rotation and side walking and uses the window of Sun-3 system for displaying joint information.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.9
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• pp.3834-3842
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• 2011

The purpose of this study is to analyze the kinematic characteristics of children with Down syndrome got congenitally joint laxity and muscle hypotonic. The subjects are boys with Down syndrome and don't have the other disabilities. We got three dimensional position data and then calculated spatiotemporal and kinematic variables during walking on treadmill used increasingly for gait analysis and training. In result, in order to overcome their gait instability due to their musculoskeletal characteristics they walked with hip, knee and ankle joints more flexed than the typical gait pattern, and on the propulsion phase they extend the lower limb joints less than the typical, result in propel the body less than. The reason is that the more is the propulsion by extending the joints, the greater is the reaction force from the ground on heel contact. This result is expected to be used to develop the training program for intensification of musculoskeletal system aim to improve the other musculoskeletal disabilities as well as Down syndrome.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.1014-1021
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• 1989

The problem of controlling static gaits for a quadruped walking robot is investigated. A theoretical approach to gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects fo the stride length on static stability are analyzed and the relations between static stability and initial body configurations are examined. It is shown that the moving velocity can be increased to some extent without affecting stability margins for a given initial body configuration. Computer simulations are performed to verify the analysis.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.594-596
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• 2005

This paper present a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation and experimental results with 24 DOF biped robot.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.103-108
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• 1988

A walking robot must have the ability to change the body direction in order to avoid the obstacles. In this paper, we develop a gait control algorithm that can maintain the stable movement of the robot for three different modes of changing directions. The algorithm makes it possible for the robot to have the larger gait stability margin than the threshold value by the method of changing the body speed.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.113-118
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• 1988

The problem of controlling static gaits of a Quadruped Walking Robot is investigated. A theoretical approach to the gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects of the stride length to the static stability are analyzed, and the relations between the static stability and the initial body configurations are examined. Extensive computer simulations are performed to verify the analysis results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.