• Journal of Korean Society of Transportation
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• v.19 no.3
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• pp.7-18
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• 2001

The pedestrian signal systems operating presently could provide more time for the pedestrian to cross the street than the previous system, but it would increase the cycle length and cause longer delays at the signalized intersections. For instance, more than 80% of traffic signals would have to have the cycle length increased by 10sec in Daegu Metropolitan areas. Therefore. the purpose of this study is to propose a pedestrian traffic signal time that not only maintains the safety of the pedestrian but also reduces the traffic cycle length. The proposed pedestrian signal time is set to enable enough time for the elderly to cross and the flashing time is set low enough to deter the ordinary person. This new pedestrian signal time can reduce the traffic cycle length at intersections and prevent the Pedestrian crossing during flashing time. In addition to the flashing green should be changed to flashing red to warn the pedestrian he should not begin crossing as opposed to the flashing green which suggest he could cross. In this study, the speed of 1.1m/sec and 0.85m/sec are applied to the new proposed signal time for normal and elderly person respectively after analyzing data collected at Daegu Metropolitan area.

• Fire Science and Engineering
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• v.34 no.2
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• pp.41-48
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• 2020

During fire outbreaks, smoke accumulates from the ceiling and reduces the available walking height of people passing through. In this study, a walking experiment was conducted to investigate the relationship between the walking speed of people and available walking height. Twenty-three participants were enrolled. Based on the results, the lower the available walking height, the lower the average walking speed of the participants. However, a significant difference was noted only in the walking speed when the available walking height was 1.2 m compared to the free walking speed. In addition, there was no significant difference among participants in terms of their BMI index grade. However, in the case of participants with normal BMI, the walking speed at a 1.2 m available walking height was significantly lower than when walking freely. Further, in the case of overweight participants, the walking speed at 1.8 m and 1.7 m available walking height was significantly increased compared to that when walking freely.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2010.04a
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• pp.311-316
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• 2010

전 세계적으로 평균수명이 연장되고 있으며 고령자의 수가 증가하고 있는 가운데 특히 국내는 빠르게 고령화 사회로 진입하고 있다. 그러나 건축물 화재시 일반성인보다 피난이 난해한 고령자가 거주하는 시설의 피난안전규정은 제대로 이루어지지 않고 있으며 구체적인 방안 또한 미흡한 실정이다. 따라서 본 연구에서는 시니어장비를 이용해 일반성인과 고령자의 자유보행속도 및 군집형성시 보행속도를 조사하여 재해약자의 존재가 전체의 보행에 미치는 영향을 파악하고 향 후 고령자, 유아등 재해약자의 피난안전을 위한 방안의 기초 DATA의 자료로 사용하고자 한다.

• The Journal of the Korea Contents Association
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• v.13 no.3
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• pp.109-118
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• 2013

The purpose of this study was to determine the effects of line dance programme on the balance ability during walking to reveal the exercise intervention for fall prevention. A 12-week line dance programme was applied to 18 elderly females who aged more than 65 years in the community. Balance ability during walking was evaluated by the range of center of pressure(cop), the velocity of cop, and free torque that calculated on the basis of ground reaction force data. The range and velocity of cop in the anterio-posterior were significantly reduced after performing(p<.01, p<.05, respectively), but change in those of cop in the medio-lateral and free torque were not found. It was demonstrates that 12-week line dance programme allows more effective in anterio-posterior stability of walking. It was suggested that the effect of fall prevention exercise should be studied more associate with fall frequency as future study.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.7
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• pp.1418-1423
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• 2004

A legged robot is friendly to human because it is resemble to human. And the robot can obtain support points freely because it has high degree of freedom for several joint as compared with a wheeled robot. Also the robot can create the relative position at desired position between support position and robot. The joint of robot cu used as manipulator. On the contrary the mechanism of robot is complicated to have many joint and moving speed is lower than wheeled robot. Also the legged robot is needed a special control not to fall on the ground because the robot is easy to vibrate when it is moving. The 4 leg structure is the minimum leg numbers not to fall and to realize safety gait continuously. A trot gait is investigated through experiments using a quadruped walking robot named TITAN-VIII.

• 전기의세계
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• v.36 no.5
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• pp.316-325
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• 1987

다각 보행 로보트의 세부 개발 분야로는 다음과 같이 세가지로 나눌 수 있다. (1) 기계적 구조 분야-3축 자유도를 갖는 다리의 구조, 에너지 효율을 고려한 다리의 구조, 역학 및 운동학의 분석, 모델화등 (2) 제어분야-다리의 시퀀스 결정, 각 다리의 서보 제어, 균형 및 안정도 유지, 속도제어 (3) 지능 및 센서 분야-장애물 인식, 경로의 판단, 장애물 통과시 다리의 위치 결정 본고에서는 제어분야와 관련하여 걸음새(gait)의 종류 및 표시방법에 대해서 2장에서 언급하고, 3장에서 1각 및 2각 제어 알고리즘을 통해 역학(dynamics)이 고려된 다리의 시퀀스 제어에 관해서 알아보며, 4각 이상의 다각 로보트에 대한 제어문제 및 제어기법에 대하여 4장에서 기술하였다.

• Journal of Biomedical Engineering Research
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• v.20 no.5
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• pp.587-592
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• 1999

압력측정시스템은 입각기동안 동적압력분포를 성공적으로 측정할 수 있으나 하중수용기-중간입각기, 말기입각기-전유각기의 전환기들에 대해서는 운동분석시스템을 사용하지않고는 정확한 정의가 불가능하다. 따라서 저자들은 수평자유보행 시 압력중심의 이동을 이해하기 위해서 정상적인 발을 가진 20-30대 성인남자 78명을 대상으로 동작분석과발바닥 압력측정을 동시에 수행하였다. 결과로 하중반응기-중간입각기 전환시기의 발바닥 압력중심점은 후족부와 중족부의 경계선에서 앞쪽으로 1.9$\pm$1.5frame(32$\pm$24msec)에 위치하였으며 말기입각기-전유각기 전환시기에는 중족골두 최대 압력점의 앞쪽으로 2.3$\pm$2.0 frame(38$\pm$33msec)에 위치하였다. 정상수평보행에 있어서 최초접지 순간 압력중심은 전방으로 빠르게 이동하다가 바로 급속히 감소하여 하중반응기-중간입각기의 전환시기에는 작은 속도로 이동하였다. 압력중심의 이동속도는 그 후 다시 서서히 증가하다가 전체 보행주기의 25% 전후에서 서서히 감소하여 비교적 일정하다가 말기입각기-전유각기의 전환시점에서 다시 급격한 증가를 보였다. 족부질환과 보행특성을 판단하는데 있어서 압력중심의 이동궤적은 매우 유용한 인자가 될 것으로 기대된다. 본 연구를 통해서 압력측정시스템만으로는 정의할 수 없었던 두 전환기인 하중반응기-중간입각기, 말기입각기-전유각기를 결정할 수있게 되었다.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.534-539
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• 2008

This paper is about intelligent hexapod robot for the support walking of the aged person. The robot using various sensors and small camera has various abilities of forward backward walking, turing left or right, control the speed of walking, avoiding the obstacles and detecting risky situation of fire or gas. To let the aged feel soft and safe walking, we used special servo motor and developed hexapod walking mechanism and effective algorithm.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Journal of Digital Contents Society
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• v.19 no.4
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• pp.815-819
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• 2018

In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.