• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.944-950
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• 2015

Recent studies on ankle-foot prostheses used for transtibial amputees have focused on the adaptation of the ankle angle of the prosthesis according to ground conditions. For adaptation to various ground conditions (e.g., incline, decline, and step conditions), ankle-foot prostheses should first recognize the ground conditions as well as the current human motion pattern. For this purpose, the ground reaction forces and orientation angle of the tibia provide fundamental information. The measurement of the orientation angle, however, creates a challenge in practice. Although various sensors, such as accelerometers and gyroscopes, can be utilized to measure the orientation angles of the prosthesis, none of these sensors can be solely used due to their intrinsic drawbacks. In this paper, a time-varying complementary filtering (TVCF) method is proposed to incorporate the measurements from an accelerometer and a gyroscope to obtain a precise orientation angle. The cut-off frequency of TVCF is adaptively determined according to the human gait phase detected by a fuzzy logic algorithm. The performance of the proposed method is verified through experiments.

• Korean Journal of Applied Biomechanics
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• v.28 no.2
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• pp.143-149
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• 2018

Objective: This study aimed to investigate the influence of landing foot orientations on biomechanics of knee joint in order to identify vulnerable positions to non-contact knee injuries during single-legged landing. Method: Seventeen men (age: $20.5{\pm}1.1 years$, height: $175.2{\pm}6.4cm$, weight: $68.8{\pm}5.8kg$) performed single-leg drop landings repeatedly with three different landing foot orientations. They were defined as toe-in (TI) $30^{\circ}$ adduction, neutral (N, neutral), and toe-out (TO) $30^{\circ}$ abduction positions. Results: The downward phase time of TI was significantly shorter than those of N and TO. The flexion and valgus angle of N was greater than those of TI and TO at the moment of foot contact. At the instance of maximum knee flexion, N showed the largest flexion angle, and TO position had the largest varus and external rotation angles. Regarding ground reaction force (GRF) at the moment of foot contact, TO showed the forward GRF, while others showed the backward GRF. TI indicated significantly larger mediolateral GRF than others. As for the maximum knee joint force and joint moment, the main effect of different foot positions was not significant. Conclusion: TI and TO might be vulnerable positions to knee injuries because both conditions might induce combined loadings to knee joint. TI had the highest mediolateral GRF with a shortest foot contact time, and TO had induced a large external rotation angle during downward phase and the peak forward GRF at the moment of foot contact. Conclusively, N is the preferred landing foot orientation to prevent non-contact knee injuries.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.259-270
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• 2004

The purpose of this study was to analysis of pelvis and lower extremity using orientation angles during a developpe a la seconde. Data were collected by Kwon3D program. Two females professional modem dancer were participated in this experiment. Subjects performed a developpe a la seconde in meddle heights(about 90 dog.) The results were as follows. The orientation angles of pelvis were, in most cases, caused by the movement of trunk and thigh. It was restricted the movement of pelvis within narrow limits because the movement of pelvis was very important to lower extremity alignment. The orientation angle of shank against thigh showed a change of angle about $3-6^{\circ}$ in internal external rotation. The orientation angle of foot against shank showed a change of angle about $6-7^{\circ}$ in internal external rotation.

• Journal of Industrial Technology
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• v.11
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• pp.65-72
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• 1991

In this paper, a control algorithm is discussed when the quadruped walking robot walks over the unknown soft ground. Firstly, it estimated the relationship between the foot force and the ground sinkage at the leg-placing phase. Secondly, the generated soil property is applied to the leg-supporting phase. If the attitude angle is changed by incorrect ground sinkage compensation, the control algorithm adjusts the attitude angle using simplified orientation orientation matrix.

• 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.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• The Journal of Korean Society for Neurotherapy
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• v.22 no.3
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• pp.31-36
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• 2018

Purpose The purpose of this study was to investigate the effects of contact handorientation response(CHOR) during sit-to-stand(STS) in people with stroke. Methods The subjects of the study were Thirty hemiplegia participated (Rt. hemiplegia/Lt. hemiplegia: 15/15, mean age: $65.82{\pm}8.53$) in this study. The analysis of muscles activation (rectus femoris, biceps femoris, tibialis anterior, gastrocnemius) distribution was conducted by the EMG, and the analysis of foot pressure distribution was conducted by the resistive pressure sensor. Hemiplegic stroke patients were instructed to perform STS three times with the non-affected side hand and affected side hand on the table. Results There was a significant positive correlation between rectus femoris, tibialis anterior muscle activation and affected side hand contact during STS(p<0.05). The STS correlated with the foot pressure in the affected side hand contact(p<0.05). Conclusion AS a result, CHOR during STS is related to muscle activation and the characteristics of foot pressure. This information was observed in the affected side hand contact on the table, suggestion that rehabilitation programs should be implemented.

• Journal of the Ergonomics Society of Korea
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• v.35 no.5
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• pp.319-341
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• 2016

Objective:This research analyzed the lower-limb motion in kinetic and kinematic way while walking on various terrains to develop Foot-Ground Contact Detection (FGCD) algorithm using the Inertial Measurement Unit (IMU). Background: To estimate the location of human in GPS-denied environments, it is well known that the lower-limb kinematics based on IMU sensors, and pressure insoles are very useful. IMU is mainly used to solve the lower-limb kinematics, and pressure insole are mainly used to detect the foot-ground contacts in stance phase. However, the use of multiple sensors are not desirable in most cases. Therefore, only IMU based FGCD can be an efficient method. Method: Orientation and acceleration of lower-limb of 10 participants were measured using IMU while walking on flat ground, ascending and descending slope and stairs. And the inertial information showing significant changes at the Heel strike (HS), Full contact (FC), Heel off (HO) and Toe off (TO) was analyzed. Results: The results confirm that pitch angle, rate of pitch angle of foot and shank, and acceleration in x, z directions of the foot are useful in detecting the four different contacts in five different walking terrain. Conclusion: IMU based FGCD Algorithm considering all walking terrain possible in daily life was successfully developed based on all IMU output signals showing significant changes at the four steps of stance phase. Application: The information of the contact between foot and ground can be used for solving lower-limb kinematics to estimating an individual's location and walking speed.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.467-470
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• 1990

This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.