• Journal of Korean Physical Therapy Science
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• v.17 no.3_4
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• pp.51-58
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• 2010

Purpose: The purpose of this study was to examine changes of postural sway between the normal group and treatment group of same people through COP movements. Methods: Fifty men with no history of sensory, neurological and orthopedic disorders were participated in this study. Participants were tested on single limb balance during 30 seconds on EMED system with bared foot. Each of them performed two methods and 5 trials totally each method: (1) non-treated group (2) treated group(with big toe flexion limitation). Data on the moving length, average velocity, instantaneous maximum velocity, mediolateral(x axis) maximum velocity, and anteroposterior(y axis) maximum velocity of COP were measured in single limb standing position. Results: The moving length and average velocity of COP were significant difference between normal and treatment group(p<0.05). On correlation of parameters, the faster average velocity of COP, the higher moving length, instantaneous maximum velocity, mediolateral maximum velocity, and anteroposterior maximum velocity of COP increase. The more Instantaneous maximum velocity of COP, the faster is anteroposterior maximum velocity of COP. Conclusions: Limitation of big toe flexors function affected single limb balance of the normal.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.97-104
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• 2019

Objective: The aim of this study was to investigate the strategies for avoiding moving and stationary walker using body segments during walking. Method: Ten healthy young adults (10 males, age: $24.40{\pm}0.49yrs$, height: $175.80{\pm}5.22cm$, body mass: $70.30{\pm}5.22kg$) participated in this study. Each participant was asked to perform a task to avoid collisions with another walker who was moving or stationary during walking on the 10 m walkway. Both walkers were performed at natural self-selected walking speed. Results: Medio-lateral avoidance displacement of the trunk and the pelvis were significantly increased when avoiding a stationary walker (p<.05). There were no significant differences in medio-lateral center of mass trajectory. Rotation angle of trunk, pelvis and foot on the vertical axis were significantly increased when avoiding a stationary walker (p<.05). Conclusion: Based on our results, when another walker moves continuously, the walker recognizes another walker as the object of social interaction and performs the avoidance strategies while expecting the cooperative distance. On the other hand, when another walker is stopped, it is determined that the walker has an obligation to avoid, and the walker performs a relatively safer avoidance strategy.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.179-195
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• 2002

The purpose of this research is to provide a proper model by analyzing the sports biomechanical of physical movements on the basis of the two patterns(open-stance and cross-stance) at the ready-to-start pose. The subjects for this study are composed of five male handball players from P university and five female shooting players from S university. Three-way moving actions at start(right, left, and forward) are recorded with two high-speed video cameras and measured with two Force platforms and a EMG system. Three-dimensional action analyzer, GRF system, and Whole body reaction movement system are used to figure out the moving mechanisms at the start pose. The analytic results of the moving mechanism at the start pose were as follows. 1. Through examining the three-way moving actions at start, I have found the cross-stance pose is better for the moving speed of body weight balance than the open-stance one. 175 degree of knee joint angle at "take-off" and 172 degree of hip joint angle were best for the start pose. 2. The Support time and GRF data shows that the quickest center of gravity shift was occurred when cross-stanced male subjects started to move toward his lefthand side. The quickest male's average supporting time of left and right foot is 0.19${\pm}$0.07 sec., 0.26${\pm}$0.06sec. respectively. The supporting time difference between two feet is 0.07sec. 3. Through analyzing GRF of moving actions at start pose, I have concluded that more than 1550N are overloaded on one foot at the open-stance start, and the overloaded force may cause physical injury. However, at the cross-stance pose, The GRF are properly dispersed on both feet, and maximum 1350N are loaded on one foot.

• Journal of the Korean Society for Nondestructive Testing
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• v.25 no.4
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• pp.247-253
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• 2005

This study investigated the effects on foot and ankle roll-over characteristics according to different heel heights during walking. Fifteen female volunteers who have neither musculoskeletal nor foot problems were participated in gait analyses, wearing four different pairs of shoes in different heel heights. To obtain roll-over shape of foot/ankle complex, we used trajectories of knee and ankle joints as well as the renter of pressure between initial contact and opposite initial contact. Results revealed that the entire roll-over shape moved distally as the heel height increased but roll-over characteristics showed uniformly with different heel heights. In addition, we found that nondisablea persons automatically adapted to their foot/ankle complex to varying heel heights within 6cm, by moving the origin of roll-over shape distally to maintain roll-over characteristics. However, since the balance of the gait only by the ankle joint could not be achieved beyond the heel height of 6cm, compensations at the knee and the hip joints occurred simultaneously. Roll-over characteristics in human walking would provide simpler and wider understanding of human walking, and furthermore could be applied to the wide understanding of prosthetics and orthotics of the lower extremity as well as orthopaedic shoes.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.36 no.2
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• pp.75-83
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• 2023

In this paper, we present the analysis results on the vibration serviceability of a pedestrian bridge considering the effect of pedestrian moving mass inertia. Using dynamic finite element analysis, we considered different walking scenarios, including pedestrian density, walking speed, random walking, and synchronized walking, to analyze the acceleration response of a 40m long single-span bridge with a steel composite box cross section. We showed that the equivalent fixed mass analysis method did not significantly differ from the moving mass analysis in the random walk scenario and a wider frequency excitation band may be useful to consider when evaluating vibration serviceability in a random walk scenario.

• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.1
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• pp.40-47
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• 2018

Porous walkway blocks are constructed for the purpose already, but reserved water is easily consumed due to the bigger permeability than necessary. Furthermore, porous structure reduces the strength of blocks, which resulting cracking and settlements in walkways. In this study, we suggested a solution for given problems by determination for the location of minimum principal stress in walkway blocks against moving foot loads in order to design and verifying the determined location of minimum principal stress. An optimum design with a verification example for determined location of minimum principal stress have been presented in a two dimensional Block member on elastic foundation for pedestrian walkway for reserving water inside. The minimum value for sum of shear forces is found when ${\times}1$ is 58.58 mm(30% of total span, 200mm), while the minimum deformation is located at ${\times}2=80mm$(70% of total span, 200 mm). In a modified model, When moving boundary condition(walkway foot loads) is located at ${\times}1$(=0 mm), the location of minimum principal stresses is found at 168 mm( 84% of span, 200 mm), in which the stress concentration due to the foot load is modeled as two layers of distributed loads(reactions of foundation modeled as springs). Consequently, zero deformed reservoirs for rainwater on the neutral axis (${\times}2=167mm$) has been determined in the modified model with three dimensional FEM analysis verifications.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.848-855
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• 2008

In this paper, we describe correspondence among multiple images taken by multiple cameras. The correspondence among multiple views is an interesting problem which often appears in the application like visual surveillance or gesture recognition system. We use the principal axis and the ground plane homography to estimate foot of human. The principal axis belongs to the subtracted silhouette-based region of human using subtraction of the predetermined multiple background models with current image which includes moving person. For the calculation of the ground plane homography, we use landmarks on the ground plane in 3D space. Thus the ground plane homography means the relation of two common points in different views. In the normal human being, the foot of human has an exactly same position in the 3D space and we represent it to the intersection in this paper. The intersection occurs when the principal axis in an image crosses to the transformed ground plane from other image. However the positions of the intersection are different depend on camera views. Therefore we construct the correspondence that means the relationship between the intersection in current image and the transformed intersection from other image by homography. Those correspondences should confirm within a short distance measuring in the top viewed plane. Thus, we track a person by these corresponding points on the ground plane. Experimental result shows the accuracy of the proposed algorithm has almost 90% of detecting person for tracking based on correspondence of intersections.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

• Korean Journal of Acupuncture
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• v.33 no.4
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• pp.149-156
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• 2016

Objectives and Methods : The aim of this study was to investigate twirling and supplementation and draining by analyzing ancient acupuncture literature and modern research papers, and to discuss the quantitative standards for the procedure. Results : Twirling supplementation and draining techniques were first described in Huang do neijing, after which they were recorded in various other ancient acupuncture texts. Not only were these techniques used in the active treatment of patient historically, but they also form the foundations of modern-day acupuncture treatment. Twirling supplementation and draining techniques described in ancient literatures can be divided into Yin and Yang. Examples of Yang characteristics include Up, Male, Morning, Hands, the governor vessel, Outside, and Left. The left rotation technique is a reinforcing method performed by moving the thumb forward while rotating the needle. Examples of Yin characteristics include Down, Female, Afternoon, Foot, the conception vessel(CV), Inside, and Right. The right rotation technique is a reducing method performed by moving the thumb backward while rotating the needle. Twirling supplementation and draining has been divided for four ways by classical literature and research that worked before. the direction of acupuncture, the stimulus-quantity of acupuncture, the performance of doctor(the uses of both hands, left and right hand) and the feeling of patient. Conclusions : Therefore, continuous research is required to implement Twirling supplementation and draining in a consistent manner. In addition, more active clinical trials using the techniques are necessary as well.