• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.622-628
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• 2009

A proper walking pattern is to be assigned for a walk of multi-legged robots. For the purpose of identifying a good walking pattern for multi-legged robots, this paper consider a simple model of quadruped robotic walking and analyze its walking balance based on the centroid of foot polygons formed in every step. A performance index to estimate the walking balance is also proposed. Simulation studies show that the centroid trajectory of foot polygons and the walking balance in a common quadruped walking are different according to the walking pattern employed. Based on the walking balance index and a bio-mimetic aspect, a useful walking pattern for quadruped robots is finally addressed.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.139-144
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• 2013

Various types of disease in the nervous and musculoskeletal system can change gait, and the gait analysis is very important in determining the progression of the disease. Most methods of analyzing gait are subject to high-priced equipment and spatial restrictions. This study used smart phone images and the walking track analysis program to make a comparative analysis with the existing gait analysis on the basis of the stride length measurements and the changes in the knee joint angle for walking. The test necessary to analyze gait was conducted in seven healthy men, and data about the angle of right and left knee joints and stride length were used to analyze gait. The gait analysis in this study obtained the similar results to the existing ones. The use of the methods suggested in this study will enable gait analysis to be made without high-priced equipment and spatial restrictions.

• 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.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.5
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• pp.109-119
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• 2017

In the present study, to determine walking imbalance using the walking analysis method, where limitations in the existing walking analysis have been minimized, we propose a new walking analysis method that adopts the following: self-developed equipment to measure the angles of left-right hip joints and knee joints; a determination system using symmetry index (SI); and dynamic time warping (DTW) similarity analysis algorithm to analyze individual walking styles. Normal and imbalanced walking tests were conducted for 12 subjects without walking disorder. From the SI calculation to determine imbalanced walking, both the normal and imbalanced walking styles can be determined using the angle measurements of the left-right hip joints and knee joints. In the analysis of the individual walking styles, the similarities at the center of the lower back, left-right thighs, and dorsum of the feet of the 12 subjects in both normal and imbalanced walking cases were compared. From the similarity analysis of the measured values during the normal and imbalanced walking tests, I determined that the walking pattern does not maintain the same stance when the body parts move during walking.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.907-910
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• 2018

오늘날 보행 분석은 여러 하지 관절, 뼈 및 근육, 신경 등의 이상을 판단할 수 있는 매우 중요한 지표로 사용되고 있다. 하지만 비정상 보행, 비대칭 보행을 하고 있는 사람들은 자신이 인지 할 수 있을 만큼 그 문제의 정도가 심각하지 않은 상태라면, 그 사실을 모른 채 살아간다. 결국 이런 문제가 지속된다면 향후 큰 질병이 발생하는 요인이 될 수 있다. 본 논문에서는 40개의 압력센서를 내장한 인솔을 통해 각 발의 압력 데이터를 수집하여 미리 정의한 정상 보행 시 나타나는 압력 분포를 기준으로 비정상 보행 여부를 판단하고 보행 시 나타나는 부분별 압력분포 데이터를 이용하여 보행 시 사용자 발의 과내전(over pronation)과 과외전(over supination) 경향도 분석하였다. 스마트 인솔을 사용하여 시간과 공간의 제약이 없는 사용자 친화적이면서 비정상 보행 판단 및 발의 과내 외전 경향 분석에 대해 자가 진단을 보조할 수 있을 것으로 기대한다.

• International Journal of Highway Engineering
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• v.10 no.3
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• pp.69-77
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• 2008

This article proposes new method for estimating pedestrian quality of service(QOS) that is useful to changing pedestrian environment by examining pedestrian quality of service as well as developing new method that integrate qualitative variables into the estimating indicators for the pedestrian movement right. Based on survey questionnaire addressed to experts group, the obtained data for the indicators were analyzed through Analytic Hierarchy Process(AHP). The results show that pedestrian traffic flow(quantitative figure: 52%), sidewalk geometric(quantitative figure: 16%), sidewalk usage behavior(qualitative figure: 11%) in commercial and business zone pointed out the importance of quantitative indicators such as pedestrian traffic flow, and sidewalk geometric. In addition, the results also show that pedestrian traffic flow(quantitative figure: 30%), sidewalk geometric(quantitative figure : 22%), sidewalk usage behavior(qualitative figure: 20%) indicate the significance of qualitative indicators such as pedestrian's sidewalk usage.

• Journal of Korean Society of Transportation
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• v.24 no.5 s.91
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• pp.57-66
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• 2006

This paper presents new pedestrian signal timings considering pedestrian demand Pedestrian characteristics, and land use which were obtained by Pedestrian characteristics field survey and pedestrian signal operation survey. Pedestrian signal timings suggested were compared to the existing pedestrian signal timings by using real field data. pedestrian characteristics field survey was conducted to collect pedestrian crossing speed data and reaction time data. Sixteen areas in Seoul were selected for the data collection. The average pedestrian crossing speed was 1.30m/sec and the 15th Percentile speed was 1.11m/sec. The average reaction time was 2.24 seconds. Pedestrian crossing speed differs by land use, road width. pedestrian age, sex, and number of Pedestrians. Reaction time also differs by road width, pedestrian age, and number of pedestrians. Statistical testing was performed to secure reliability of the collected data.

• Journal of Korean Society of Transportation
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• v.31 no.6
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• pp.53-66
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• 2013

The major purpose of this study is to evaluate methodologies to predict the injury severity of pedestrian-vehicle collisions. Methodologies to be evaluated and compared in this study include Binary Logistic Regression(BLR), Ordered Probit Model(OPM), Support Vector Machine(SVM) and Decision Tree(DT) method. Valuable insights into applying methodologies to analyze the characteristics of pedestrian injury severity are derived. For the purpose of identifying causal factors affecting the injury severity, statistical approaches such as BLR and OPM are recommended. On the other hand, to achieve better prediction performance, heuristic approaches such as SVM and DT are recommended. It is expected that the outcome of this study would be useful in developing various countermeasures for enhancing pedestrian safety.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.793-798
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• 2010

In this paper we propose a low-power walking compensation method for biped robot based on consumption energy analysis. Firstly, basic walking motions that can reduce energy consumption of robot movements are implemented based on consumption energy analysis according to robot axes. We define knee bent motion as a basic walking motion. It can improve energy consumption and motion stability by lowering center of gravity of the biped robot. We analyze consumption energy of left and right leg of the robot using motor currents and propose a compensation method of walking motions to reduce unbalance of consumption energy between left leg and right leg. It can also improve energy consumption and walking stability of the robot. The proposed low-power compensation method based on consumption energy analysis is verified by walking experiments of a small biped robot with an embedded system.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.2
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• pp.93-103
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• 2019

This study analyzed the impact of smartphone usage on walking speed during walking on two pedestrian walkways in Daejeon Metropolitan City. For the analysis, the video data about the actual use of smartphone was acquired and the walking speed was calculated based on the walking density of the pedestrian Level Of Service(LOS) presented in the Road Capacity Manual. Multiple regression analysis and decision tree using machine learning were used to analyze the impact of smartphone usage on walking speed, and as the explanatory variables, gender, disable smartphone, use of smartphone using auditory function, use of smartphone using visual function, LOS A, LOS B, LOS C were adopted. The result showed that LOS C had the highest impact on walking speed change and the women's group using their visual function was founded to have the slowest walking speed in LOS C. In particular, the author found that walking speed significantly decreased in the case of use of visual function rather than listening to music or the hearing on the phone.