• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1780-1783
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• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.3
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• pp.104-109
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• 2010

The fatality of pedestrian accounts for about 21.2% of all fatality at 2007 year in Korea. In car to pedestrian accident it is very important to inspect the throw distance of pedestrian after collision for exact reconstructing of the accident. The variables that influence on the throw distance of pedestrian can be classified into the factors of vehicle and pedestrian, and road condition. It was simulated by PC-CRASH, a kinetic analysis program for a traffic accident in sedan type vehicle and SPSS program was used for regression analysis. From the results, the throw distance of pedestrian increased with the increasing of vehicle velocity, and decreased with the increasing of impact offset. Also it decreased with the increasing of velocity of pedestrian at accident, and throw distance at the road condition of wet was longer than that at dry condition. Finally, the regression model of sedan type vehicle on the throw distance of pedestrian was as follows; $$dist_i=2.39-0.11offset_i+0.59speed_i-545height_i-0.25walk_i+2.78wet_i+{\epsilon}_i$$.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.585-590
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• 2007

최근 IT기술의 비약적인 발전과 더불어 사용자의 편의성을 극대화 시키는 웨어러블 컴퓨팅 기술이 주목을 받고 있다. 이러한 기술은 일반인뿐만 아니라 장애인들의 일상생활의 보조 도구에 활용되어 큰 도움이 될 것으로 예상된다. 본 논문에서는 시각 및 청각장애인을 위해 개발된 착용형 단말기들을 소개하고자 한다. 시각 장애인용 단말기인 SmartWand는 시각장애인용 지팡이에 부착하거나 손에 휴대할 수 있는 장치로, 시작장애인을 위한 보행 보조 및 색상과 명암 정보 인식 보조 기능을 갖춘 장치이다. SmarWand는 시각장애인이 보행 시 이용하는 기존의 지팡이로는 감지할 수 없는 전방의 장애물을 초음파 센서를 통해 탐지하여 촉각이나 음성으로 경고해주고, 물체의 색깔이나 주변의 밝기 정도를 측정하여 시각장애인에게 알려준다. 청각 장애인용 단말기인 SmarWatch는 손목에 착용하는 장치로서 아기 울음소리, 노크나 초인종 소리, 물 끓는 소리, 화재 경보 등 가정에서 발생하는 일상적인 소리를 인식할 수 있도록 해준다. SmartWatch는 입력 모듈의 마이크로 입력된 소리를 문선통신을 통해 컴퓨터로 전송한 후에 소리의 종류를 인식하고 적절한 제어신호를 다시 무선통신을 통해 전송받아 감지된 소리의 종류를 해당하는 진동과 시각정보로 표시해준다. 이런 착용형 단말기들을 통해 시각 및 청각 장애인의 일상 생활의 안정성과 편의성이 증대 되기를 기대한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.767-772
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• 2011

Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.21 no.4
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• pp.370-379
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• 2014

Purpose: The purpose of this study was to identify the time for young adults to reach resting blood pressure after walking as measured by an automatic and a mercury sphygmomanometer. Methods: Participants were 33 nursing students in their 20s. Blood pressure after walking was measured every minute on both arms simultaneously for a total of 6 times after walking for 12 minutes on a treadmill at ratings of perceived exertion (RPE) of 11. Data were analyzed using paired t-test, Bland-Altman plots and repeated measures ANOVA. Results: Systolic blood pressure after walking was the same as measurements corresponding to resting blood pressure after 3 minutes of resting if measured with the automatic sphygmomanometer and 4 minutes of resting if measured with the mercury sphygmomanometer. Conclusions: In order to measure the resting blood pressure for healthy young adults who performed low-density walking for 12 minutes on flat land, the measurement needs to be made after a resting time of at least 3 minutes in the case of an automatic sphygmomanometer and 4 minutes in the case of a mercury sphygmomanometer.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.72-81
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• 2009

The purpose of this paper is to accomplish the stable humanoid robot walking on the soft terrains. The goal of the humanoid robot development is to make the robotic system perform some tasks in human living environment. However, human dwelling environments are very different from those of laboratories, where varied experiments are performed by the robot. In many cases, the ground is soft or elastic unlike the floor of a laboratory. When a robot walks on the soft ground, the sole of robot contacts the uneven ground. This results in unstable walking or walking may be impossible according to the degree of softness. Therefore, the algorithm that facilitates stable walking on the soft ground surface is required. In this paper, we suggest an algorithm that controls the ankle to help the robot walk stably on the soft ground using the humanoid robot (ISHURO-II) as a real model. A humanoid robot walking on the soft ground was simulated to verify that the proposed algorithm results in stable walking.

• The Journal of Korean Physical Therapy
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• v.11 no.3
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• pp.151-158
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• 1999

Neuropathy is a common and often debilitating complication of diabetes, Diabetic peripheral neuropathy(DN) includes a variety of different disorders that affect the peripheral nervous system. The most common type of DN is the predominantly sensory distal polyneuropathy. Typically, symptoms begin in the foot and proximally during the course of the discease, reflecting the fact that longer fibres are involved earlier that shorter ones. Reviewed the pathogenesis, the diagnosis of DN, the gait pattern and the excercise, the treatment of pain in DN patient.

• Journal of the Korean Society of Hazard Mitigation
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• v.6 no.2 s.21
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• pp.9-15
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• 2006

Structures of Civil Engineering have been designed with a safety as their main purpose. However recently, the greenness side of the technology of civil engineering regarded as most Important and also utility values and stability of the structures. Also developments in the technology make materials to be higher strength and they shortened scales and stiffness of the structural members. This means that it brings an immoderate deflection and vibration of bridge structures simultaneously. Accordingly, this study ai ed to find and estimate the most idealized structure models on the effects of the deflection and vibration of bridges from the traffic lane load and human vibration - the main pass of bridge structures.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.