• 대한정형도수물리치료학회지
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• 제27권2호
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• pp.55-67
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• 2021

Background: This study aimed to use the muscle energy technique (MET) with total knee replacement (TKR) during the chronic phase in a clinical setting and confirm its effects on the knee extensor strength and ROM, balance, and walking ability. Methods: A total of 20 female patients who underwent TKR 1~4 years ago were assigned to two groups (Control: Q setting exercise+general physical therapy, n=10; Exp: MET+general physical therapy, n=10). Interventions were performed three times a week for 4 weeks. The strength of the knee extensor was evaluated using an aneroid sphygmomanometer, and ROM was evaluated using degrees at the end range on active knee flexion. The main balance outcomes were evaluated using two standard scale (TSS) and timed up and go (TUG) test, whereas the walking ability was evaluated using the 10 meter walk test (10MWT). Results: Analysis showed that both groups had significant increases in strength, ROM, TSS, TUG, and 10MWT. Differences in all variables were significant between the control and Exp groups at the post-intervention evaluation (p<.05). However, no significant difference was observed in strength and TUG. Conclusion: Results of this study demonstrated that MET would help improve the strength, ROM, balance, and walking ability of patients with chronic TKR who want to enhance their abilities and performance in activities of daily living.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1137-1142
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• 2004

Walking training is one of the most important rehabilitation processes with paralysis patient. Walking training by using an orthosis can help advancing a patient's independent level. However, existing orthoses have some serious demerit of mechanical problem that the knee joint is locked in the state where it is completely extended, which increases energy consumption and fatigue. For this reason, it is suggested, for more practical orthosis, that the knee joint should be placed and it should have capability of suspending patient's weight. In this paper, 1-DOF walking orthosis which compensates the demerit of the existing orthosis and secures patient's mobility has been proposed. New orthosis has been designed under the following two premises. First, the knee joint of the orthosis was designed fold in order for the orthosis to move in a walking pattern similar to that of a normal person. Second, the knee joint was designed to extend during the swing phase and lock safely during the stance phase.

• 한국산업융합학회 논문집
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• 제18권4호
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• pp.224-230
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• 2015

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

• 전기학회논문지
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• 제58권2호
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.78-81
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• 1997

In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 1999년도 춘계 학술대회논문집
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• pp.199-204
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• 1999

Three dimensional numerical analysis for the turbulent reactive flow and radiative heat transfer in the walking beam type of a reheat furnace in POSCO has been carried out by the industrial code FLUENT. Computations an based on the conservation equations of mass, momentum, energy and species with the $k-{\varepsilon}$ turbulence model and mixture fraction/PDF(Probability Density Function) approach for the combustion rate. Radiative heat transfer is computed by the discrete ordinates radiation model in combination with the weighted-sum-of-gray-gas model for the absorption coefficient of gas medium. The predicted temperture distribution in the reheat furnace and energy flow fractions are in reasonable agreement with the measurement data.

• The Korean Journal of Physiology
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• 제4권1호
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• pp.1-11
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• 1970

Studies on the analysis of walking were performed on 33 male subjects. A prescription of physical exercise (walking at a speed of greater than 6 km/hr for more than one hour daily) for the promotion of individual health is presented on the basis of walking analysis. Presumptions were made that adequate physical exercise does promote health and is beneficial for the healthy life and increases the life span. These presumptions were derived from the numerous experimental literatures. The literatures support indirectly the presumptions. The following results were obtained and prescription of physical exercise is presented. 1. Oxygen uptake in a walking on a treadmill at a speed of 4 km/hr was only 3 times of the resting oxygen uptake. This kind of moderate exercise did not stimulate the cardiopulmonary system adequately. Heart rate at a 4 km/hr walking was 101 beats/min in boys of less than 20 years old and 83 beats/min in adults. Oxygen uptake at a 6 km/hr walking exceeded 4 times of the resting oxygen uptake. It was interpreted that walking at 6 km/hr stimulated the cardiopulmonary system for the promotion of health. Heart rate at this speed was greater than 110 beats/min in boys and greater than 100 beats/min in adults. 2. Heart rates in a walking of 10 km/hr were 172 beats/min in boys, and 143 beats/min in adults, respectively. Maximal heart rates were 185 beats/min in boys, 180 in office clerks, and 168 beats/min in construction site laboreres. 3. The correlation between heart rate and oxygen uptake was high, namely, r>0.95. Subsequently heart rate could be used as a measure of degree of intensity of physical exercise instead of the cumbersome oxygen uptake measurement. 4. The prescription of physical exercise for the promotion of health is: Daily walking for more than one hour at a speed of greater than 6 km/hr. Bodily functions in this daily walking are in boys (body weight, 50 kg): heart rates of 110 beats/min; breathing frequency, 28/min; oxygen uptake, greater than 4 times of the resting uptake; pulmonary ventilation, 351/min; stride, 124 strides/min; cumulative number of strides for one hour, 7,440 strides, and energy expenditure of more than 300 kcal. In adults (body weight, 60 kg) the bodily functions are: heart rates of 100 beats/min, breathing frequency, 28/min; oxygen uptake, greater than 4 times of the resting uptake; Pulmonary ventilation, 301/min; stride, 127 strides/min; cumulative number of strides for one hour, 7,670 strides, and energy expenditure of more than 300 kcal.

• 한국항해항만학회지
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• 제37권3호
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• pp.239-244
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• 2013

본 연구는 승선 생활에 미숙련된 일반승객이 해상재난 발생 시 여객선 내에서의 안전성을 확보하고 피난성능을 향상시키기 위한 기술 개발에 반드시 필요한 선박 항해 환경에 따른 승선 중 보행속도를 실측실험을 통해 취득하고 이를 비교 분석한 것이다. 81명의 남녀 대학신입생이 참가한 승선 실험에서, 평면복도 직선부에서의 평균보행속도는 항해시가 정박시보다 27.2%, 평면복도 코너부에서는 23.2% 느려지는 것으로 나타나 항해중 선박 동요에 따른 속도 저하가 크다는 사실을 알 수 있다. 항해상태에서 실측된 상향계단과 하향계단에서의 평균보행속도는 각각 0.71m/s, 0.75m/s으로 측정되었다. 군집충돌 이동실험에서는 인근 보행자와의 보행 간섭으로 인해 후미로 갈수록 보행속도가 느려지고, 선두의 이동속도가 군집 전체의 이동속도에 큰 영향을 준다는 사실을 확인하였다.

• 한국지능시스템학회논문지
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• 제22권4호
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• pp.448-453
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• 2012

최근 다양한 환경에서 지능형 로봇의 안정된 이동방법에 대한 연구가 활발히 이루어지고 있다. 본 논문에서는 복합 바퀴-다리형 이동 로봇의 설계 방법을 제안하고, LRF(Laser Range Finder)센서를 이용한 복합 이동형 로봇의 저전력 보행 기반 장애물 회피 알고리즘을 제안하였다. 로봇의 자세 안정화와 소비에너지를 줄이기 위해 모터 전류값을 바탕으로 자세를 보정하여 저전력 보행 알고리즘을 구현하였고, 이를 기반으로 LRF센서를 이용한 장애물 회피 알고리즘을 제안하였다. 로봇의 각 다리에서 소비되는 전력을 고르게 분포시키게 자세를 보정하여 보행을 안정화시키고, 최단 경로로 장애물을 회피하여 이동함으로써 전체 소비 에너지를 감소시키며 보행 안정성을 향상하였다. 본 연구에서 제안한 방법들은 실제 복합 이동 로봇의 보행 및 장애물 회피 실험을 통해 성능을 검증하였다.

• 한국운동역학회지
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• 제19권1호
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• pp.179-186
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• 2009

본 연구는 3축 가속도 센서를 허리와 발등에 부착하여 호흡가스분석기와 에너지 소비량을 비교하고, 가속도 센서를 이용한 에너지 소비량 예측과 센서 부착위치에 따른 에너지 소비량에 관한 정확도를 살펴보는 연구를 실시하였다. 8km/hr 이상의 보행속도에서 산소소비량은 속도의 증가에 따라 보다 급격한 직선적 증가를 보인다는 것을 토대로 성인남성 9명을 대상으로 트레드밀위에서 $1.5{\sim}8.5km$/hr의 속도로 걷는 동작을, $4.5{\sim}13.0km$/hr로 뛰는 동작을 수행하였다. 또한 발등에 부착된 센서모듈과 비교를 위해 현재 시판중인 Nike+iPod Sports kit에서 측정된 에너지 소비량과의 비교도 수행하였다. 실제 에너지 소비량은 가스분석 기를 통하여 측정되었으며 각 부착위치마다 보행과 주행을 구분하여 다중회귀식을 구현하였다. 실험결과 허리에 부착된 센서모듈의 에너지 소비량의 예측이 발등과 Nike+iPod Sports kit 보다 상관관계가 높음을 알 수 있었다. 또한 보행과 주행으로 구분된 에너지 소비량을 예측한 결과가 허리와 발등에서 모두 평균 7.5km/hr이상에서 에너지 소비량이 교차함을 알 수 있었다. 하지만 Nike+iPod Sports kit의 경우, 9명 모두에서 에너지 소비량의 교차점을 찾을 수 없었다. 따라서 허리에 센서모듈을 부착하고 보행과 주행에 대한 다중회귀식을 구분함으로써 더욱 정확한 예측을 수행할 수 있었다.