• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.2
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• pp.161-168
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• 2015

In this paper, we present an inertial sensor-based gait distance measurement system using accelerometer, gyroscope, and magnetometer. To minimize offset and gain error of inertial sensors, we performed the calibration using the self-made calibration jig with 9 degrees of freedom. For measuring accurate gait distance, we used gradient descent algorithm to remove gravity error and used analysis of gait pattern to remove drift error. Finally, we measured a gait distance by double-integration of the error-removed acceleration data. To evaluate the performance of our system, we walked 10m in a straight line indoors to observe the improvement of removing error which compared un-calibrated to calibrated data. Also, the gait distance measured by the system was compared to the measurement of the Vicon motion capture system. The evaluation resulted in the improvement of $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ and $69.71{\pm}26.25%$ for x, y and z axis, respectively when walked in a straight line, and a root mean square error of 0.10m, 0.16m, and 0.12m for x, y and z axis, respectively when compared to the Vicon motion capture system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.825-837
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• 2017

This paper describes a novel type of a walking rehabilitation robot that applies robot technologies to crutches used by patients with walking difficulties in the lower body. The primary features of the developed robot are divided into three parts. First, the developed robot is worn on the patient's chest, as opposed to the conventional elbow crutch that is attached to the forearm; hence, it can effectively disperse the patient's weight throughout the width of the chest, and eliminate the concentrated load at the elbow. Furthermore, it allows free arm motion during walking. Second, the developed robot can recognize the walking intention of the patient from the magnitude and direction of the ground reactive forces. This is done using three-axis force sensors attached to the feet of the robot. Third, the robot can perform a stair walking function, which can change vertical movement trajectories in order to step up and down a single stair according to the floor height. Consequently, we experimentally showed that the developed robot can effectively perform walking rehabilitation assistance by perceiving the walking intention of the patient. Moreover we quantitatively verified muscle power assistance by measuring the electromyography (EMG) signals of the muscles of the lower limb.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.10
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• pp.174-180
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• 2020

This paper presents the development of a tacho generator that is applicable to a DC motor for anti-aircraft weapon systems. In general, devices such as tacho generators and resolvers are used as feedback devices for controlling DC motors. A tacho generator with a wide operating temperature range was developed, which has robust characteristics against shock loads and vibrations according to the operational characteristics of anti-aircraft weapon systems. The target specifications were set based on the requirements of the tacho generator currently in operation. A rotor coupled to the shaft of the motor and a stator coupled to the housing of the motor were then designed and manufactured. The inductance was 31.0 mH, the terminal resistance was 147.7 ohms, and the rotational measurement factor was satisfactory under both normal operation and operating conditions after the maximum speed for the standard of 9.500 ± 0.475 V/krpm. In addition, the environmental suitability of the applied equipment was confirmed through the rate of change in unit temperature, and it was found that the temperature characteristics were all within 0.03 %/℃.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.3
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• pp.271-277
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• 2017

The purpose of this study was to develop a balance chair for improving pelvic correction and postural balance through postural balance training using tactile feedback by a vibration motor provided in real time according to the user's attitude. We built a body frame using mono cast(MC) Nylon, Touch thin film transistor(TFT) for user interface, a main control module using Arduino, a 9-axis acceleration sensor for user's posture determination, and a vibration module for tactile feedback. The prototype of the Balance Chair which surrounds the outside was made with cushion for sitting conformability. In order to verify the effectiveness of the postural balance training system using the built prototype, the muscle activity (% MVIC) of the left and right iliocostalis lumborum those are the main muscles of the spinal movement was measured with ten female subjects. And the balance ability before and after training was measured using Spine Balance 3D, a posture balance ability evaluation device. The muscular activities of the left and right iliocostalis lumborum showed the balance activation according to vibration feedback during exercise protocol and postural balance improved after balance exercise training using balance chair. This study could be apply to use the fundamental research for developing the various postural balance product.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.9
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• pp.712-722
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• 2018

This paper conducts parametric studies on flapping wing design, one of the most important design parameters of insect-mimicking aerial vehicles. Experimental study on wing shape was done through comparison and analysis of thrust, pitching moment, power consumption, and thrust-to-power ratio. A two-axis balance and hall sensor measure force and moment, and flapping frequency, respectively. Wing configuration is biplane configuration which can develop clap and fling effect. A reference wing shape is a simplified dragonfly's wing and studies on aspect ratio and wing area were implemented. As a result, thrust, pitching moment, and power consumption tend to increase as aspect ratio and area increase. Also, it is found that the flapping mechanism was not normally operated when the main wing has an aspect ratio or area more than each certain value. Finally, the wing shape is determined by comparing thrust-to-power ratio of all wings satisfying the required minimum thrust. However, the stability is not secured due to moment generated by disaccord between thrust line and center of gravity. To cope with this, aerodynamic dampers are used at the top and bottom of the fuselage; then, indoor flight test was attempted for indirect performance verification of the parametric study of the main wing.

• The Journal of Engineering Geology
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• v.7 no.3
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• pp.191-205
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• 1997

Measurements on subsurface movement of the Songsanri tomb site including the Muryong royal tomb was conducted using a tiltmeter system for the period of 15 months form July 7, 1996 to September 30, 1997. Two coordinate tilt monitoring data shows the biggest movement rate of 2.3mm/m/yr toward south in the frontal wall(N-S tilt) of the Muryong royal tomb. Southward tilting of bricks above the southern fire place in the western wall of the Muryong royal tomb is a proof of southward tilting of the royal tomb since its excavation in 1971. The eastern wall of the Muryong royal tomb is also tilting toward inside the tomb with the rate of 1.523mm/m/yr. Furthermore, tilting rate of wall increases twice in rainy season. It is interpreted tbat infiltration of water into the tomb and nearby ground in rainy season results in dangerous status for the safety of tomb structure. On the whole, normal component tilting of the walls of the 5th tomb is large than its shear component. It shows a small displacement toward one direction without no abrupt change in its direction and amount of tilting. The tilting rate of walls of the 6th tomb is about 8.8mm/m/yr in the dry season which is much bigger than those of other tombs in rainy season. Deformation events of walls of the tombs are closely related to amount of precipitation and variation of temperature. In comparison with different weather conditions, tilting is much bigger during the period of rainy weather than sunny weather. It is interpreted that rainwater flew into the turm through faults and nearby ground. High water content in nearby ground resulted strength of ground. The tilting event of walls shows a hysterisis phenomenon in analysis of temperature effect on tilting event. The walls tilt rapidly with steep rising of temperature, but the tilted walls do not come back to original position with temperature falling. Therefore, a factor of steep increase of the temperature must be removed. It means the tomb have to be kept with constant temperature. The observation of groundwater level using three boreholes located in construction site and original ground represented that groundwater level in construction site is higher than that of original ground during the rainy season from the end of June to August. It means that the drainage system of the Muryong royal tomb is worse than original ground, and it is interpreted that the poor drainage system is related to safety of tomb structure. As above mentioned, it is interpreted that artificial changes of the tomb environment since the excavation, infiltration of rainwater and groundwater into the tomb site and poor drainage system had resulted in dangerous situation for the tomb structure. According to the result of the long period observation for the tomb site, it is interpreted that protection of the tomb site from high water content should be carried out at first, and the rise of temperature by means of the dehumidifier inside the tomb must be removed.