• 대한기계학회논문집A
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• 제24권5호
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• pp.1155-1165
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• 2000

Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.

• 대한안전경영과학회지
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• 제17권1호
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• pp.139-148
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• 2015

For design research of teenagers' posture correcting shirt, postures of teenagers were analyzed and became the base of inventing suitable patterns. The subjects of this study were 198 of both female and male middle school students from the city of Seoul. Students' postures in classroom and length change of body surface were observed and analyzed; based on this, total of 5 postures was selected, and length changes of body surface were applied. The patterns in this study were designed with stretch material to help antagonism by muscle movements. Each fabric that was used in this study had 110% of stretch, 120~140% of stretch, and 150~170% of stretch. Both of one-way-fabric and duplex-fabric were used in this study, depending on application site.

• 제어로봇시스템학회논문지
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• 제11권6호
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• pp.543-549
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• 2005

This paper deals with modeling and analysis fer the landing motion of a human-body model. First, the dynamic model of a floating human body is derived. The external impulse exerted on the ground as well as the internal impulse experienced at the joints of the human body model is analyzed. Second, a motion planning algorithm exploiting the kinematic redundancy is suggested to ensure stability in terms of ZMP stability condition during a series of landing phases. Four phases of landing motion are investigated. In simulation, the external and internal impulses experienced at the human joints and the ZMP history resulting from the motion planning are analyzed for two different configurations. h desired landing posture is suggested by comparison of the simulation results.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.626-633
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• 2009

A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.306-314
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• 2009

The pelvis platform is the mechanical part which accomplishes the activities of diminishing the disturbances from the lower body and maintaining a balanced posture. When a biped robot walks, a lot of disturbances and irregular vibrations are generated and transmitted to the upper body. As there are some important machines and instruments in the upper body or head such as CPU, controller units, vision system, etc., the upper part should be isolated from disturbances or vibrations to functions properly and finally to improve the biped stability. This platform has 3 rotational degrees of freedom and is able to maintain balanced level by feedback control system. Some sensors are fused for more accurate estimation and the control system which integrates synchronization and active filtering is simulated on the virtual environment.

• Safety and Health at Work
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• 제7권1호
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• pp.49-54
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• 2016

Background: Prolonged sitting leads to low back discomfort and lumbopelvic muscle fatigue. This study examined the characteristics of body perceived discomfort and trunk muscle fatigue during 1 hour of sitting in three postures in office workers. Methods: Thirty workers sat for 1 hour in one of three sitting postures (i.e., upright, slumped, and forward leaning postures). Body discomfort was assessed using the Body Perceived Discomfort scale at the beginning and after 1 hour of sitting. Electromyographic (EMG) signals were recorded from superficial lumbar multifidus, iliocostalis lumborum pars thoracis, internal oblique (IO)/transversus abdominis (TrA), and rectus abdominis muscles during 1 hour of sitting. The median frequency (MDF) of the EMG power spectrum was calculated. Results: Regardless of the sitting posture, the Body Perceived Discomfort scores in the neck, shoulder, upper back, low back, and buttock significantly increased after 1 hour of sitting compared with baseline values ($t_{(9)}=-11.97$ to -2.69, p < 0.05). The MDF value of the EMG signal of rectus abdominis, iliocostalis lumborum pars thoracis, and multifidus muscles was unchanged over time in all three sitting postures. Only the right and left IO/TrA in the slumped sitting posture was significantly associated with decreased MDF over time (p = 0.019 to 0.041). Conclusion: Prolonged sitting led to increased body discomfort in the neck, shoulder, upper back, low back, and buttock. No sign of trunk muscle fatigue was detected over 1 hour of sitting in the upright and forward leaning postures. Prolonged slumped sitting may relate to IO/TrA muscle fatigue, which may compromise the stability of the spine, making it susceptible to injury.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1997년도 추계학술대회
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• pp.39-43
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• 1997

Posturography stands or quantitative assessment of body postural stability analysis. The present study developed a balance plate system to monitor patient's center of pressure (COP) movement and to analyze its stability. An equilateral triangular shaped plate was made of duralumin and forces were measured on the three vertices of the plate using industrial load cells. Specially designed electronic circuit picked up force signals ed into data acquisition system to calculate the cartesian coordinates of COP. COP calculation error was less than 2%. The force signals enabled to compute stability measures, which consisted of a variety of clinical parameters related to postural stability. Clinical experiments were carefully designed and performed on 40 normal subjects. The results were that 1) postural stability decreased with age and 2) the best parameters were those of posture deviation measures. A customized PC-based software package was developed to apply the present technique with a great convenience to monitoring and analyzing postural stability in an accurate and quantitative way.

• 한국운동역학회지
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• 제28권1호
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• pp.9-18
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• 2018

Objective: This study aimed to analyze how the upright body type exercise program affected body balance and record of archers. This study aimed to prove the effectiveness of upright body type exercise, on this basis, in enhancing the performance of archery players. Method: A total of 14 archers (7 men and 7 women) in B Metropolitan City who had ${\geq}4years$ of career in archery and were given explanation of its contents and purpose before giving spontaneous consent to the experiment were enrolled in the study. The upright body type exercise program was implemented thrice a week for 12 weeks, with higher exercise intensity with time. A resistive pressure sensor, Gaitview AFA-50, was used to measure the foot plantar pressure distribution and analyze quantitative information concerning variation in posture stability and weight shift in dynamic balance of foot plantar pressure in shooting and static balance of plantar pressure with the eyes open and closed and the change in archery record accompanying the change in body balance. Results: As for the differences in foot plantar pressure between before and after participation in the upright body type exercise program, there was no significant difference in static balance of foot plantar pressure with the eyes open, and there was statistically significant difference at the ${\alpha}=.05$ significance level in static balance of foot plantar pressure with the eyes closed or in dynamic balance of foot plantar pressure in shooting. There was statistically significant difference at the ${\alpha}=.05$ significance level in archery record. Conclusion: The upright body type exercise program had positive effects on static and dynamic balance of foot plantar pressure by allowing archers to experience less body sway and physical imbalance in shooting with closed eyes and positive effects on archery record. Thus, the program is expected to help archers correct their posture and perform better.

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• 한국운동역학회지
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• 제20권4호
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• pp.373-380
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• 2010

The purpose of this study was to evaluate the effect of balance training on gait stability. The study population included 17 male high school students who were divided into 3 groups, each of which underwent one of the following types of balance-training programs for 8 weeks: 1 foot standing on cushion foam, trunk muscle training, and inverted body position training. 0, 4, and 8 weeks, the following experiment was performed: The participants were asked to close their eyes and take 17 steps; the stability of forward and sideward movement was determined, and the direction linearity was measured. The results revealed that all the training programs caused a decrease in stride deviation and an increase in the and the stride length, thereby improving the stability of forward movement. All the programs decreased the variation in step width and were thus also effective in improving the stability of sideward movement. The inverted body position training program was considered very effective because the cross point appeared on post hoc graphic analysis after 4 weeks, and the deviation length for 10 m was low, i.e., below 4 cm. All the programs were effective with respect to direction linearity because they decreased the deviation in direction widths. The results indicate that whole-body neurocontrol training is more effective than simple muscle training and local focused balance training, although this neurocontrol training-in the form of inverted body position training-required a longer training period than did the other programs.