• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.971-972
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• 2009

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.193-195
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• 2006

In this study, we developed an active controlled ankle-foot orthosis(AAFO) which can control the dorsiflexion/plantarflexion of the ankle joint during gait to prevent foot drop and toe drag for paralysis patients. To prevent dropping foot after heel strike, ankle joint was actively controlled to minimize forefoot collision with the ground. It was also controlled to provide toe clearance and to help push-off during late stance. The 3D gait analysis was performed on two healthy subjects equipped with the developed AAFO to compare with the normal gait and the conventional AFO gait. In the developed AAFO gait, differently from the conventional AFO gait, significant push-off was observed during pre-swing and the maximum flexion moment during pre-swing phase was similar to that of normal gait. A remarkable dorsiflexion also occurred during initial swing. These results indicated that the developed AAFO could have certain clinical benefits to prevent foot drop for paralysis patients, compared to conventional AFOs.

• 대한인간공학회지
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• 제26권2호
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• pp.131-136
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• 2007

In this study, we developed an active ankle-foot orthosis(AAFO) which can control dorsi/ plantar flexion of the ankle joint to prevent foot drop and toe drag during walking. 3D gait analyses were performed on five healthy subjects under three different gait conditions: the normal gait without AFO, the SAFO gait with the conventional plastic AFO, and the AAFO gait with the developed AFO. As a result, the developed AAFO preeminently induced the normal gait compared to the SAFO. Additionally, AAFO prevented foot drop by proper plantarflexion during loading response and provided enough plantarflexion moment as a driving force to walk forward by sufficient push-off during pre-swing. AAFO also could prevent toe drag by proper dorsiflexion during swing phase. These results indicate that the developed AAFO may have more clinical benefits to treat foot drop and toe drag, compared to conventional AFOs, and also may be useful in patients with other orthotic devices.

• 한국CDE학회지
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• 제22권2호
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• pp.6-10
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• 2016

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.424-428
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• 2016

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.540-546
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• 2017

Bipedal robots tend to have greater mobility than conventional treaded or wheeled robots yet they are commonly complicated by instabilities in balance. This paper presents a bipedal robot based upon Jansen's locomotive mechanism which addresses these challenges in stability and efficiency. In order to achieve a functioning robot, we considered a multitude of variables in its motion including, the Ground Score, Drag Score, step size, foot lift, stride, and instantaneous speed of the Jansen mechanism. Matlab and Jansen Opt solver were used to optimize the legs of the robot. A trial and error experimental method was used to determine the best combination of link lengths, and m.Sketch was used to model our results. Finally, we drew the entirety of the robot's figure by using the Edison design.

• 한국운동역학회지
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• 제25권4호
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• pp.465-474
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• 2015

Objective : A study and development of Korean Bobsleigh athletes's shoe which considers their physical condition has yet to be completed. So this study examines the effects of running shoes used by athletes based on plantar pressure and sprint time in order to provide raw data for the development of bobsleigh shoes suitable for Koreans. Method : The study selected seven bobsleigh athletes as subjects and selected three pairs of spiked running shoes from three companies, which will be referred to as Company N (Type A), Company A (Type B), and Company M (Type C). To analyze sprint time and plantar pressure for each shoe, the subject of the study were instructed to wear the selected shoes and to drag a sled at maximum sprint for 15 meters for 15 meters for in each condition that would be in real bobsleigh competitions. Results : The average sprint intervals for each athlete in each pair of shoes revealed Type C produce the fastest sprint in the order of Type C < Type A< Type B. Shoe Type C also had the largest contact area in order of Type C > Type B > Type A (p<.01). None of the three shoe types seem to yield a distinct advantage in terms of maximum average pressure or maximum pressure. Conclusion : In the future, functional analysis should be carried out by comparing the material properties, hardness, and toe spring of shoes based on the Type C shoe from Company M in order to develop bobsleigh shoes suitable for Koreans.

• Structural Engineering and Mechanics
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• 제16권5호
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• pp.519-531
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• 2003

Piezoelectric actuators have long been recognised for use in aerospace structures for control of structural shape. This paper looks at active control of the swept shock wave/turbulent boundary layer interaction using smart flap actuators. The actuators are manufactured by bonding piezoelectric material to an inert substrate to control the bleed/suction rate through a plenum chamber. The cavity provides communication of signals across the shock, allowing rapid thickening of the boundary layer approaching the shock, which splits into a series of weaker shocks forming a lambda shock foot, reducing wave drag. Active control allows optimum control of the interaction, as it would be capable of positioning the control region around the original shock position and unimorph tip deflection, hence mass transfer rates. The actuators are modelled using classical composite material mechanics theory, as well as a finite element-modelling program (ANSYS 5.7).

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.58-66
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• 2005

Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the kinematic structure of the two feet. The human being adapts his own control algorithm to minimize the ill effect due to the collision with the environment. In order to operate a Humanoid robot like the human being, it is necessary to understand the physics of the impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion in playing soccer. At the instant of impact, the external impulse exerted on the ball by the foot is an important property. Initially, we introduce the complete external impulse model of the lower-extremity of the human body and analyze the external impulses for several kicking postures of the lower-extremity. Secondly, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, will be introduced. The aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation and experimentation to verify the effectiveness of the proposed analytical methodology.

• 한국운동역학회지
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• 제19권3호
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• pp.499-508
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• 2009

본 연구의 목적은 필드하키 페널티 코너 시 고등학교 선수와 국가대표 선수간의 플릭 슈팅 동작을 비교 분석하여 페널티 코너 지도 시 운동학적 지침을 제시하는 것이다. 이러한 목적을 위하여 전문 슈터 남자 고등학교 선수 5명과 국가대표 선수 6명을 피험자로 선정하여 페널티 코너 시 플릭 슈팅 동작을 비교 분석하였다. 국가 대표 선수들은 고등학교 선수에 비하여 스틱헤드 속도와 볼 속도가 빠른 것으로 나타났다. 국가 대표 선수들은 고등학교 선수에 비하여 스틱으로 볼을 캐치하는 단계에서 오른발을 볼보다 앞쪽에 많이 내딛고, 볼을 앞쪽으로 길게 드래그하여 목표 방향으로 빠르게 보내고 있다. 고등학교 선수들은 국가대표 선수들에 비하여 볼을 캐치하는 단계에서 어깨의 각속도와 손목의 각속도 변화가 크고 동작 시간도 짧게 나타났다. 국가 대표 선수들은 신체 무게 중심의 상하편차가 적으며 폴로스루 단계에서도 릴리즈 단계의 몸 숙임 각도를 일정하게 유지하였으며 릴리즈 시점에서는 손과 전완의 각운동량이 고등학교 선수에 비하여 큰 것으로 나타났다.