• Proceedings of the KIEE Conference
• /
• 2011.07a
• /
• pp.910-911
• /
• 2011

미래사회의 기술적 혁신을 이끌 것으로 생각되는 로봇산업에 대한 관심이 증대되고 있으며, 최근에 많은 기술 개발과 개선이 이루어지고 있다. 이러한 경향은 점차 확대될 것으로 예상되며 전기자동차와 유사한 신성장 동력으로 성장할 것이다. 그러나, 로봇의 핵심 부품인 모터와 같은 구동계는 타분야에 비하여 기술적 혁신 및 관심을 끌지 못하고 있다. 앞으로 로봇산업이 확대 성장하여 산업용 로봇에서 가정용 로봇으로 진화하고, 로봇의 기능적인 측면이 보행, 러닝, 점프 등의 고성능을 구현하기 위해서는 각종 관절을 구동하는 역할을 담당하는 모터 및 동력전달 알고리즘의 연구 개발이 더욱 활발히 이루어져야 할 것이다. 특히, 인간과 유사한 로봇을 구현하기 우하여 보다 Flat하고 가볍고 출력밀도가 높은 새로운 구동장치의 필요성이 증대될 것이다. 본 논문에서는 산업노동지원을 위한 착용식 근력증강 로봇에 적용하는 모터 개발을 목적으로 적합한 구동계 타입을 선정하고, 요구 성능을 만족하는 전동기를 전자계 해석을 통하여 설계하고, 시작품 제작 및 평가를 통하여 해석결과를 검증하였다.

• Information and Communications Magazine
• /
• v.32 no.12
• /
• pp.32-37
• /
• 2015

본 글에서는 철도교통의 안전성 향상을 위해 철도건널목의 지장물을 검지하는 기술을 소개한다. 철도건널목에 자동차나 보행자 등 열차운행에 지장을 줄 수 있는 물체가 존재하는지 확인하기 위하여 현재 레이저빔 방식의 검지장치를 사용하고 있으나 기술적 한계와 문제점을 보이고 있다. 이를 극복하기 위해 2차원 레이저스캐너 센서를 적용하여 새로운 지장물 검지 시스템을 설계하였으며, 관심구간에 존재하는 물체의 크기와 방향을 검지하는 알고리즘을 탑재하여 효과적인 지장물 인식이 가능하도록 하였다. 제작한 시작품을 실제 운영노선에 설치하여 현장시험을 수행하였다. 본 글에서는 개발된 기술을 설명하고 현장시험 결과를 소개하고자 한다.

• Physical Therapy Korea
• /
• v.1 no.1
• /
• pp.92-97
• /
• 1994

It is well known that visual cues can improve the motor performance of Parkinsonian patients. Previous laboratory studies have examined the effects of visual cueing to the floor. This case study examined the effects of using a visual cue above eye level on the gait of a Parkinsonian man. It was found that cueing the patient to a target above eye level while waking not only improved the kinematic parameters of the gait cycle but also facilitated a more functional gait pattern with re-intergration of arm swing, rhythm, heel strike and a more erect posture. Visual targeting above eye level may serve as an important clinical tool for physiotherapists treating Parkinsonian patients.

• Information and Communications Magazine
• /
• v.34 no.4
• /
• pp.3-9
• /
• 2017

일과시간의 80% 이상을 실내공간에서 보내고, 무선통화의 70%와 데이터 접속의 80%가 실내로부터 시작되고, 또한 39%의 스마트폰 사용자가 위치기반 서비스를 사용하고 있기 때문에 실내 환경에서 보행자들에 대한 위치기반 서비스가 크게 확대될 것으로 전망하고 있다. 본고에서는 국내외 실내위치인식 기술에 대한 개발 및 서비스 현황 그리고 다양한 방식의 실내위치인식 기술들의 성능을 검증하기 위하여 최근 활발하게 진행되고 있는 실내위치인식 및 항법 경진대회들을 소개한다. 정부는 위치기반 서비스에 대한 국가 기술 경쟁력 확보를 위하여 연구개발에 대한 장기적인 투자뿐만 아니라 정부주도 대형 행사 기간 동안에는 적극적인 시범 서비스를 수행하였다, 본고에서는 2014년 ITU 전권회의 기간 동안 제공한 실내 길안내 서비스 및 2018년 평창올림픽 기간 동안 참가자들에게 제공할 증강현실기반 실내외 끊김 없는 길안내서비스에 대해서 소개한다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2017.04a
• /
• pp.78-78
• /
• 2017

현재 국내에 공급되고 있는 잡곡류 수확기는 보행형 예취기, 탈곡기 위주의 저능률 기계화 수준으로 고능률의 콤바인 수확기 개발이 필요하며, 특히 잡곡류가 소규모 경작지의 영세농가 위주로 재배되어 저가격의 소형 콤바인 수확기 개발이 절실히 요구되고 있다. 따라서 본 연구는 소규모 밭의 두류 및 잡곡 수확작업에 적응성이 뛰어나며, 농기계 임대사업소의 활용도를 높일 수 있고, 여성과 고령자도 쉽게 운전할 수 있어 수확작업의 노동력을 크게 절감할 수 있는 저가격의 25kW급 자주식 소형 콤바인을 개발하고자 시작기를 설계 제작하였다. 시작기의 주요부로 엔진은 25kW/2600rpm 3기통 디젤엔진을 탑재하였으며, 동력전달부는 주변속 3단, 부변속 2단의 선택맞물림 기어식의 변속장치를 이용하였다. 주행부는 궤도형으로 조향클러치와 습식 원판식 제동장치를 채용하였다. 전처리부는 선단거리 1700 mm의 디바이더와 상하좌우 수동 조절되는 회전속도 약 42 rpm의 정오각형 릴로 구성하였으며, 전처리부의 최대 승강높이는 740 mm이었다. 작물이송부는 돌기부착 오거와 체인컨베이어로 구성되어 있으며, 탈곡부는 단동형 축류식의 직경 440 mm, 길이 1180 mm의 급동과 높이 65 mm, 지름 10 mm의 46개 강봉형 급치, 격자형 수망으로 구성하였으며, 회전속도는 약 325 rpm으로 작동하도록 하였다. 선별 정선부는 요동 송풍선별식으로 곡립판, 볏짚체, 곡립체, 송풍팬으로 구성하였고 송풍팬의 회전속도는 약 850 rpm, 요동진동수는 약 5.8 Hz로 작동하도록 하였다. 곡물이송부와 재처리부는 수평이송 외경 103 mm, 수직이송 외경 110 mm의 피치가 모두 82 mm인 스크류컨베이어를 이용하였으며, 곡물탱크는 용량이 250 로 2개의 배출구로 곡물을 포대에 담도록 하였다. 그 외 시작기는 운전조작부, 유압장치부, 전기장치부 등을 갖도록 설계 제작하였다. 전체적인 기체의 크기는 길이${\times}$폭${\times}$높이 $3935{\times}1900{\times}2440mm$이었으며, 기체 중량은 약 1753 kg이었다. 콩 대상 기초 성능시험 결과 시작기의 작업속도는 약 0.5 m/s, 작업능률은 약 11 a/h로 나타났다.

• Journal of Biomedical Engineering Research
• /
• v.31 no.1
• /
• pp.50-55
• /
• 2010

Gait initiation is a transitional process from the balanced upright standing to the beginning of steady-state walking. Dysbalanced gait initiation often causes stroke patients to fall. The net center of pressure, measured by two triaxial force plates from twenty healthy subjects and two stroke patients, was investigated to assess asymmetry of gait initiation in hemiparetic subjects. The time interval and distance of the net center of pressure(CoP) moved from the initiation point to the toe off(S1) and from the toe off to the initial contact(S2) were calculated during gait initiation of normal and stroke patients. When the patient with right hemiplegia(A) initiated his gait with right foot, the time interval and the distance of the net CoP in S1 and S2 were smaller than that of normal subjects' values. However, he initiated the gait with left foot(unaffected side) the time interval and the distance of net CoP in S1 were larger than normative values. Differently, the patient with left hemiplegia(B) has shown that larger time interval and distance in S1 and smaller time interval and distance in S2 in both sides. His asymmetry(with which side the gait initiated) was not significant. It is too early to conclude that these results could be general characteristics of the stroke patients because the variations were large and moreover, the level of motor recovery of the patients was different. However, it is expected that these trials could help to set up the strategy of the therapy for the rehabilitation or prevention of fall in stroke patients.

• Journal of the Korea Society of Computer and Information
• /
• v.28 no.10
• /
• pp.257-266
• /
• 2023

The aim of this study is to use media big data to understand the characteristics and changes in technology that prevents wandering and missing for dementia patients as well as supports safe walking since 1990 until recently. BigKinds as a media big data was used to conduct an analysis in two stages. In the results, first, the media reports began to be reported in the early 2000s, and it increased after 2014. Second, regarding to the characteristics of changes in technology and device utilization, there has been a change to advanced technology that combines AI and IoT, focusing on GPS. Drone has recently increased in media report, however problems of personal information security need to be resolved. Third, technology development focused on location identification by police and guardians. Based on the results, technology development and community cooperation for dementia patient were discussed.

• PNF and Movement
• /
• v.4 no.1
• /
• pp.45-50
• /
• 2006

Purpose : This study shows the movements of the ankle and the foot in walking stages, and helps to diagnose and treat the problems of the ankle and the foot. The foot in human is a mean of the transportation, body support, and shock absorber. However, the slightest changes in the anatomical position can cause a significant increase of the stress and force in the ankle and the foot. The regular compressive force in the ankle of the normal person is generated by the contraction of the gastrocnemius and popliteus muscles, and transmitted to the achilles tendon. The plantar flexion about 10 degrees occurs immediately after the heel strike, getting ready for the weight acceptance. The shear force about 80 % of the body weight is generated immediately after the heel off of the mid stance phase. In those who have a problem in the ankle, the compression force at the ankle decreased to 1/3 of the body weight, and the shear force decreased, and the compressive force was reached at their maximum level earlier than the normal people. Conclusion : Analysis of the movements at the ankle and the foot in walking phase can make the effort to diagnose and treat the ankle and foot with the problems. However, the further study is necessary.

• Journal of the Korean Fracture Society
• /
• v.30 no.4
• /
• pp.186-191
• /
• 2017

Purpose: The purpose of this study was to investigate the radiological and epidemiological characteristics, as well as the clinical course of pelvic insufficiency fractures in the elderly population. Materials and Methods: At a Haeundae Paik Hospital, we retrospectively reviewed patients with pelvic insufficiency fractures between March 2010 and May 2017. The demographic data of patients were analyzed, and bone mineral density and bone turnover markers were evaluated to estimate the metabolic status of the bone. The radiological characteristics were evaluated by comparing the simple x-ray images with the computed tomography images, and the types of fractures were classified via computed tomography images. For clinical course evaluation, we investigated comorbid complications, and compared the walking ability scale before and 6 months after the fracture. Results: A total of 42 patients were included, with an average age of 76.5 years. All were female except one case. In 5 cases where the initial medical examination was from another institution, the fracture was not found in 3 cases. All cases received conservative treatment. After the diagnosis of pelvic bone fracture using a simple x-ray imaging, additional fractures were found in 81.0% of the study population using a computed tomography. Initiation of gait occurred at an average of 2.8 weeks, and every case except 1 (97.6%) fully recovered their gait ability. Conclusion: We concluded that there was a limitation with diagnosing pelvic insufficiency fracture using only a simple x-ray imaging technique. In general, cases in this study showed conservative treatment yielded favorable clinical outcome with relatively less critical complications.

• Journal of Biomedical Engineering Research
• /
• v.19 no.1
• /
• pp.69-80
• /
• 1998

This research was designed to investigate how the exercise program affects paraplegic standing and walking employing functional electrical stimulation(FES). Emphasis was also given to fatigue of major lower extremity muscles induced by different types of electrical stimulation. We applied continuous and intermittent rectangular pulse trains to quadriceps of 10 normal subjects and 4 complete paraplegic patients. The frequencies were 20Hz and 80Hz, and the knee angle was fixed at 90$^{\circ}$and 150$^{\circ}$to investigate how muscle fatigue is related to muscle length. The knee extensor torque was measured and monitored. We have been training quadriceps and gastrocnemius of a male paraplegic patient by means of electrical stimulation for the past two year. FES standing was initiated when the knee extensors became strong enough to support the body weight, and then the patient started FES walking utilizing parallel bars and a walker. We used an 8-channel constant-voltage stimulator and surface electrodes. The experimental results indicated that paralyzed muscles fatigued rapidly around the optimal length contrary to normal muscles and confirmed that low frequency and intermittent stimulation delayed fatigue. Our exercise program increased muscle force by approximately 10 folds and decreased the fatigue index to half of the initial value. In addition, the exercise enabled the patient to voluntarily lift each leg up to 10cm, which was of great help to the swing phase of FES walking. Both muscle force and resistance to fatigue were significantly enhanced right after the exercise was applied every day instead of 6 days a week. Up to date, the patient can walk for more than two and half minutes at 10m/min while controlling the on/off time of the stimulator by pushing the toggle switch attached to the walker handle.