• Journal of the KSME
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• v.50 no.12
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• pp.50-55
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• 2010

영화 로보캅, 아이언맨 등에 등장하는 외골격기구(exoskeleton)는 이제 더 이상 먼 미래의 얘기도 아니고 딴 나라 얘기도 아니다. 외골격기구 중 특히 하지외골격기구는 Baytheon Sarcos, Berkley Bionics, Exohiker, Bleex, HAL5 등의 이름으로 버클리, 스탠퍼드 등 해외 우수 연구집단에서 이미 개발을 성공하였고 상용화를 앞두고 있다. 늦은 감은 있지만 국내에서도 재활의료용, 군수용 하지외골격기구 연구가 진행되고 있다. 본 저자는 최근 기존연구와 다른 접근방식으로 고민을 시작하였고 본 연구팀이 상표출원한 $PLE^{TM}$, $LeSATA^{TM}$의 개발을 서두르고 있다. 이 글을 통해 그간의 고민들을 간략히 털어놓을까 한다.

• Journal of Biomedical Engineering Research
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• v.31 no.2
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• pp.162-169
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• 2010

This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.1
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• pp.65-72
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• 2010

In this study, the performances of a medium grade IMU which is aimed for Mobile Mapping System and a low grade IMU for pedestrian navigation are analyzed through simulations under GPS signal blockage. In addition, an analysis on the accuracy improvement of barometer, electronic compass, or multi-sensor(combination of barometer and electronic compass) to correct medium grade or low grade IMU errors in the situation of GPS signal blockage is performed. With the medium grade IMU, the three dimensional positioning error from INS exceeds the demanded accuracy of 5m when the block time is over 30 seconds. When we correct IMU with barometer, compass, or multi-sensor, however, the demanded accuracy is maintained up to 60 seconds. In addition, barometer is more effective than the electronic compass when they are combined. In case of low grade IMU like MEMS IMU, the three dimensional positioning error from INS exceeds the demanded accuracy of 20m when the block time is over 15 seconds. When we correct INS with barometer, compass, or multi-sensor, however, the demanded accuracy is maintained up to 15 seconds in simulation results. On the contrary to medium grade IMU, electronic compass is more effective than the barometer in case of low velocity such as pedestrian navigation. It is expected that the analysis suggested a method to decrease position or attitude error using aided sensor integration when MMS or pedestrian navigation is operated under 1he environment of GPS signal blockage.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.446-452
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• 2002

This paper Presents a 3-D design and a Vibration control of a new walking R.G.O.(Robotic Gait Orthosis) and would like to develop a simulation by this walking system. The vibration control and evaluation of the new knee joint mechanism on the biped walking R.G.O.(Robotic Gait Orthosis) was a very unique system and was to obtain by the 3-axis accelerometer with a low frequency vibration for the paraplegia It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking R.G.O.. The new knee joint system of both legs were adopted with a good kinematic characteristics. It was designed attached a DC-srevo motor and controller, with a human wear type. It was able to accomodate itself to a environments of S.C.I. Patients. It will be expect that the spinal cord injury patients are able to recover effectively by a new walking R.G.O. system.

• Journal of the Korean Society of Clothing and Textiles
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• v.48 no.1
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• pp.108-119
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• 2024

In this study, we aimed to propose enhancements to the dimensions and design of walking aids tailored for elderly women. Specifically, we focused on wheeled walking assistance devices and aligned each structural component with the appropriate human body dimensions to suggest appropriate product dimensions organized by size clusters, aiming to maximize the practicality of the results. We extracted essential factors required for product design, including human body size elements. The dimension extraction method was clustered to establish connections between key human body parameters-such as height, weight, and age groups-and product dimensions. We conducted a comparative analysis of walking aid product dimensions according to the design elements and sizes of models currently available in the market. The outcomes of this study offer objective, data-driven insights into areas where existing models on the market could benefit from improvement and we anticipate that the findings of this study will provide a solid, quantitative foundation for individuals when selecting the most suitable model for their needs.

• The Journal of the Korean bone and joint tumor society
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• v.10 no.1
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• pp.22-28
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• 2004

We retrospectively reviewed the cases of peroneal nerve palsy in seven patients after musculoskeletal tumor resection. Their mean age was 38 years. Three had osteosarcoma in proximal fibula, 2 had chondrosarcoma in proximal fibula and calf and 2 had malignant fibrous histio cytoma in calf. Four of 7 patients had been managed using active dorsiflexion brace. Three patients who underwent tibialis posterior transfer and could walk without brace were able to discontinue the use of the orthosis. Peroneal nerve palsy after wide excision of tumor including peroneal nerve can not resolve spontaneously and results in severe functional disability. To improve the gait function, active surgical treatment should be considered.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.3
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• pp.181-189
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• 2015

Powered prosthesis is used to assist walking of people with an amputated lower limb and/or weak leg strength. The accurate gait phase classification is indispensable in smooth movement control of the powered prosthesis. In previous gait phase classification using physical sensors, there is limitation that powered prosthesis should be simulated as same as the speed of training process. Therefore, we propose EMG signal based gait phase recognition method to classify stairs ascending and stairs descending into four steps without using physical sensors, respectively. RMS, VAR, MAV, SSC, ZC, WAMP features are extracted from EMG signal data and LDA(Linear Discriminant Analysis) classifier is used. In the training process, the AHRS sensor produces various ranges of walking steps according to the change of knee angles. The experimental results show that the average accuracies of the proposed method are about 85.6% in stairs ascending and 69.5% in stairs descending whereas those of preliminary studies are about 58.5% in stairs ascending and 35.3% in stairs descending. In addition, we can analyze the average recognition ratio of each gait step with respect to the individual muscle.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• Journal of the Korean Society for Nondestructive Testing
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• v.25 no.4
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• pp.247-253
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• 2005

This study investigated the effects on foot and ankle roll-over characteristics according to different heel heights during walking. Fifteen female volunteers who have neither musculoskeletal nor foot problems were participated in gait analyses, wearing four different pairs of shoes in different heel heights. To obtain roll-over shape of foot/ankle complex, we used trajectories of knee and ankle joints as well as the renter of pressure between initial contact and opposite initial contact. Results revealed that the entire roll-over shape moved distally as the heel height increased but roll-over characteristics showed uniformly with different heel heights. In addition, we found that nondisablea persons automatically adapted to their foot/ankle complex to varying heel heights within 6cm, by moving the origin of roll-over shape distally to maintain roll-over characteristics. However, since the balance of the gait only by the ankle joint could not be achieved beyond the heel height of 6cm, compensations at the knee and the hip joints occurred simultaneously. Roll-over characteristics in human walking would provide simpler and wider understanding of human walking, and furthermore could be applied to the wide understanding of prosthetics and orthotics of the lower extremity as well as orthopaedic shoes.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.2 no.1
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• pp.19-25
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• 2009

Pes planus is a condition where the arch of the foot collapses and comes in contact with the ground. The purpose of study was to confirm the effect of a patient-customized insole on both feet velocity of pes planus with and without the insole, in order to establish both feet velocity as a rehabilitation evaluation factor of pes planus in future. As a result, the average velocity shifts of both feet showed that left foot is 2.96%, right foot is 1.09% via gait experiment with 13 pes planus patients with and without insole. Therefore this study verified that the patient-customized insole effects on both feet velocity of pes planus. However further study needs to demonstrate both feet velocity as a rehabilitation evaluation factor in pes planus.