• Korean Journal of Applied Biomechanics
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• v.20 no.3
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• pp.261-266
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• 2010

Human body is hard to be in perfect balance during walking. Most of time the trunk is supported by one leg and the center of mass(COM) falls to the contralateral side. Thus, dynamic variables such as the velocity of the COM should be considered when gait stability is evaluated. The purpose of this study was to investigate whether the extrapolated center of mass(XCom) which utilized the COM position and its velocity, is appropriate to evaluate gait stability. Ten healthy adults participated in this study and performed 3 different types of gaits(normal(NG), hands on waists(HWG), and hands on shoulders(HSG)) onto 4 different types of obstacle(obstacle height: 0%, 30%, 40% and 50% of leg length). Medio-lateral Com-CoP and XCom-CoP inclination angle were calculated during support phase. For all condition, greater M-L XCoM-CoP inclination angles were found(p<.05) compared with those of matched obstacle height CoM-CoP. Especially, M-L XCoM-CoP inclination angle at 50% height revealed the best condition for monitoring dynamic stability. Significantly increased in M-L XCoM-CoP inclination angle was found(p<.05) as obstacle height increased on NG and HWG.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.10a
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• pp.755-758
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• 2016

본 논문에서는 마커 인식과 레이저 센서를 이용하여 드론과 모듈 로봇 간의 상호작용이 가능하며 도킹 가능한 드론을 설명한다. 모듈 로봇은 4족 로봇으로 4개의 다리를 이용하여 보행이 가능하며 스스로 장애물 회피 등의 지능적 행동이 가능하다. 연구에서는 1대의 카메라를 이용하여 마커 인식을 하고 레이저 센서 송수신을 통하여 모듈 로봇과의 상호작용이 가능함을 보인다. 실험은 마커 인식과 레이저 센서를 융합하였을 때의 도킹 성공률이 뛰어났다는 결과를 보이며 드론의 페이로드가 다른 상황에서도 안정적인 결과를 보여 영상이나 방범, 농업 분야에서 특수한 기술을 갖는 로봇을 드론과의 도킹을 통해 다른 모듈화 된 로봇들과 교체하여 실효성을 극대화 시킬 수 있을 것이다.

• The Journal of Korean Physical Therapy
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• v.21 no.4
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• pp.17-22
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• 2009

Purpose: The goal of this study was to investigate the effect of core strength exercises on the balance control and walking ability of stroke patients. Methods: Twelve stroke patients participated in this study. These patients were divided into two groups (a core stability group and a control group). There were 6 subjects in each group. They participated in core strength exercises for 3 weeks. These exercises included The Timed Up and Go Test (TUG). Messen Trairuieren Dokumentieren (MTD) Systems for balance and walking were measured and compared before and after the treatment. Results: First, core strength exercises improved balance control of patients with stroke by increasing weight shifting to the affected side. Second, core strength exercises improved the walking ability of patients with stroke by reducing the TUG score. Third, there was a significant correlation between balance control and walking. Conclusion: Core strength exercises are effective for improving both balance control and walking.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.249-258
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• 2014

The purpose of this study was to investigate the different patterns of the lower limb between elderly and adult females to reduce the rate of falls. Ten old females(age: $73.1{\pm}2.69yrs$, height: $151.9{\pm}4.82cm$, mass: $57.36{\pm}5.36$) and ten adult females(age: $28\pm}4.76$ yrs, height: $160.6{\pm}6.83cm$, mass: $53.9{\pm}8.44$) were participated in this experiment. The gait motions were captured with Qualisys system and variables were calculated with Visual-3D. The following results were found. The elderly female group showed bigger inclination angle between COM and COP than the adult female group so that the dynamic stability was reduced in walking for the compensation with a bigger stride width. The elderly female group ensure for the necessary forward movement of COM in order to replace the decreased function of ankle and knee joint. If the distance between COM and COP is closer and the energy reduction of a specific joint is reduced, they could prevent the elderly female's falling rate by strengthening of muscles which were related the extension of ankle joint.

• The Journal of Korean Physical Therapy
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• v.21 no.2
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• pp.97-101
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• 2009

Purpose: This study examined how the direction of carrying a load affects the foot stability and kinesiology while walking. Methods: The heel rotation, Hallux stiffness, foot balance, metatarsal load, toe out angle, subtalar joint flexibility were measured in 40 adults (men and women) who carried a load back and forth, walking on a 2-meter-long board. The measurement was carried out three times and the mean of the measurements was used to compare the difference between the front, back and the condition without a load. Results: While walking, heel rotation and hallux stiffness occurred most when a front load was applied compared to a back load or no load condition (p<0.05). A metatarsal load also appeared to be the highest with the frond load, but there was no significant difference in the balance of the whole foot. Both the toe out angle and subtalar joint flexibility appeared to increase significantly (p<0.05). Conclusion: Applying the front load causes subtalar joint instability and increases the plantar foot pressure imbalance during walking.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.5
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• pp.50-58
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• 2013

In this paper, we present the implementation result of an UWB terminal for mobile tactical networks. Considering the major characteristics of the terminals of tactical networks, i) targeting voice service, ii) pedestrian users, and iii) demanding high network fidelity, we designed all protocol layers from physical layer to applications layer. The designed terminal is implemented in forms of software and hardware with RF ASIC, FPGA, DSP, and GPP. The functionality of the implemented terminal is validated by successfully performing 1 to 1 and multi-hop voice communication test.

• Journal of Digital Contents Society
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• v.8 no.4
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• pp.475-481
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• 2007

This study analyzes the sign system, the types and distribution of sign boards, around Cheon-An railway station which is a representative public space, and it gives a classification of the system through investigating them by types and location. Some points are issued on the kind of the system established, the location of the information, and the clustered plantation of them. Thus, it is required to differentiate sign systems in each section, to distribute them uniformly rather than aggregated densely, and to place them at pertinent locations with the analysis of people's behavior avoiding improvised decision. In conclusion, pedestrians' needs on them should be analyzed first no matter where the sign is installed so that it is possible to develop tranquil atmosphere for people to use through providing proper information.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• Journal of the Korean Society of Physical Medicine
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• v.14 no.2
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• pp.89-95
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• 2019

PURPOSE: The purpose of this study was to compare task-oriented balance training on stable and unstable surfaces in terms of the fall risk, balance, and gait abilities in patients with stroke. METHODS: Twenty patients with stroke were divided randomly into a stable surface group (SSG, N=10) or unstable surface group (USG, N=10). The participants in the SSG and USG performed task-oriented balance training on stable and unstable surfaces, respectively. All participants were evaluated using the Tetrax, Berg balance scale (BBS), and 10-meter walking test (10MWT) before and after the intervention. Both groups received training 30 min per day, five times per week, for six weeks. RESULTS: The within-group changes in the fall risk, BBS, and 10MWT were significantly different in both USG and SSG (p<.05). USG showed significantly more improvement in the BBS and 10MWT compared to SSG (p<.05). CONCLUSION: Task-oriented balance training on an unstable surface is more beneficial in improving the balance and gait abilities of stroke patients.