• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.294-301
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• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.471-478
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• 2012

A foot motion is estimated using an inertial sensor unit, which is installed on a shoe. The inertial sensor unit consists of 3 axis accelerometer and 3 axis gyroscopes. Attitude and position of a foot are estimated using an inertial navigation algorithm. To increase estimation performance, a smoother is used, where the smoother employs a forward and backward filter structure. An indirect Kalman filter is used as a forward filter and backward filter. A new combining algorithm for the smoother is proposed to combine a forward indirect Kalman filter and a backward indirect Kalman filter. Through experiments, the estimation performance of the proposed smoother is verified.

• Journal of Sensor Science and Technology
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• v.31 no.6
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• pp.411-417
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• 2022

In this paper, we propose a sensor with a C-shaped load cell to detect force change when a person sitting on the chair in an electrical transport-convenience vehicle is pushing ground by both heels. The load cell built in the vehicle is mechanically deformed by the vertical force owing to the human weight and the horizontal force by ground-pushing feet. The deformation rate of the load cell and its distribution are simulated using finite element analysis. In the simulation, the applied loads are preset in the range of 10 kg - 100 kg with a step size of 10 kg, and the ground-pushing force by feet is increased to 40 N with a step size of 5 N with respect to each applied load level. The resistance change of the load cell was observed to be linear in simulation as well as in measurement. the maximum difference between simulation and measurement was 0.89 % when the strain gauge constant was 2.243. The constant has a large influence on the difference. The proposed sensor was fabricated by connecting an instrument amplifier and a microcontroller to a load cell and used to detect the force by ground-pushing feet. To detect foot driving, the reference signal was set to 130% of the load, and the duration of the sensor output signal exceeding the reference signal was set to 0.6 s. In a test of a vehicle built with the proposed sensor, the footpushing force by the worker could be successfully detected even when the worker was working.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.161-162
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1445-1446
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• 2011

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.1 s.190
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• pp.27-36
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• 2007

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 mm and the height should be below 40mm. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching straingages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.

• Proceedings of the KOSOMBE Conference
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• v.1994 no.05
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• pp.88-91
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• 1994

We develope a assistant system of foot pressure distribution for improvement gait Pattern, adapted working speed, and minimitation of muscle fatigue of the sensory feedback type FES system(SEFES). This measurement system consist of mat type pressure sensor with piezo electric films. The pressure data signal multiflexed input scanning method processed A/D conversion after two step amplify and integrate. Matrix sensor interface to PC for pseudo color display by level of Pressure distribution data. This measurement system clinically evaluated in hemiplegic patients. It has produced acceptable results with optimal location of the food sensor's pressure point and avoid the muscle fatigue.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.11a
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• pp.445-447
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• 2000

The terminal and core(wire conductor) in a Harness processing is connected by putting them in a applicator by virtue of a manual operation. A normal or abnormal condition of crimping connections is nearly determined by a skilled worker. In general, a skilled worker operates a press motor with a foot switch by pressing on foot and puts a wire conductor into a press with one hand. By doing so, sufficient efficiency is not obtained by a worker. In this paper, a basic study has done to make improve an efficiency by finding the normal arrangement out as to whether a terminal and wire conductor in Harness are placed on the right position or not with a quadrant plane photo position sensor.

• Journal of Fisheries and Marine Sciences Education
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• v.28 no.4
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• pp.893-902
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• 2016

The purpose of this study is to investigate the effect of wearing a weightlifting belt, which is an auxiliary equipment used during squat, by measuring and analyzing biomechanical difference in lower limb and proposing safer and to suggest a more effective exercise method for general population. Selected 8 male participants in their 20s who have not performed regular resistance exercise for at least a year, but have experience of performing squat. The comprehensive method of study is as follows: subjects were notified of the purpose of the study and were told to practice warm-up and the squat motion for the experiment for 20 minutes. When the participant believed they were ready to begin, the experiment was started. At controlled points, foot pressure distribution sensor has been installed. Then left and right feet have been placed on the pressure distribution sensor, from which data for successful squat position that does not satisfy the criteria for failure have been collected and computed with Kwon3D XP program and TPScan program. For data processing of this study, SPSS 21.0 was used to calculated mean (M) and standard deviation (SD) of the analyzed values, and paired t-test has been conducted to investigate the difference before and after wearing the weightlifting belt, with p-value of ${\alpha}<.05$. As for time consumed depending on usage of weightlifting belt in squat, statistically significant difference has been found in P2, which is recovery movement. Lower limb angle depending on usage of weightlifting belt in squat has shown statistically significant difference in E1 foot joint(p<. 001). There has been statistically significant difference in E2 knee joint. Foot pressure percentage depending on usage of weightlifting belt in squat were found to be statistically significant (p<. 01) in both regions of anterior and posterior foot.