• 한국운동역학회지
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• 제21권1호
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• pp.9-16
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• 2011

The purpose of this study is to analyze the effects of both various shoe types and bare feet on ground reaction force while walking. Ten first-year female university students were selected. A force platform(Kistler, Germany) was used to measure ground reaction force. Six types of shoe were tested: flip flops, canvas shoes, running shoes, elevated forefoot walking shoes, elevated midfoot walking shoes, and five-toed shoes. The control group was barefooted. Only vertical passive/active ground reaction force variables were analyzed. The statistical analysis was carried out using the SAS 9.1.2 package, specifically ANOVA, and Tukey for the post hoc. The five-toed shoe had the highest maximum passive force value; while the running shoe had the lowest. The first active loading rate for running shoes was the highest; meanwhile, bare feet, the five-toed shoe, and the elevated fore foot walking shoe was the lowest. Although barefoot movement or movement in five toed shoes increases impact, it also allows for full movement of the foot. This in turn allows the foot arch to work properly, fully flexing along three arches(transverse, lateral, medial), facilitating braking force and initiating forward movement as the tendons, ligaments, and muscles of the arch flex back into shape. In contrast movement in padded shoes have a tendency to pound their feet into the ground. This pounding action can result in greater foot instability, which would account for the higher loading rates for the first active peak for padded shoes.

• 대한기계학회논문집A
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• 제39권8호
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• pp.743-749
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• 2015

본 논문에서는 해저보행로봇 크랩스터(CR200)의 전방 입사 조류에 대한 동적 전복안정성에 대하여 연구하였다. CR200 은 우리나라 근해 환경의 특징인 강조류 환경에서 운용될 수 있도록 설계되었고, 몸체도 유체역학적 요소를 고려하여 제작되었다. 해저보행로봇의 동적 전복안정성을 판단하기 위하여 육상보행로봇의 동적 전복안정성의 개념을 도입하여 수중환경에 맞도록 전복 판별식을 재정의하고 이를 이용해 전방 조류에 대한 동적 전복안정성을 시뮬레이션으로 해석하였다. 이를 위하여 조류속도가 변할 때 CR200 의 자세변화에 따른 유동해석 결과를 이용하였다. 또한 CR200 의 지지다리를 이동하여 전복축의 위치가 바뀌었을 경우에 대하여 해석을 수행하여 전복축의 이동에 따른 CR200 의 전복안정성 개선효과를 확인하였다.

• 한국산학기술학회논문지
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• 제16권11호
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• pp.7285-7292
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• 2015

본 연구의 목적은 생체역학적 변인을 근거로 하여 후진보법의 전방향 보행(댄스보행)이 후방보행처럼 재활과 걷기운동으로써의 가능성을 규명하는 것이다. 실험대상자는 13명의 여성댄스 전문가로 자료수집을 위하여 12대의 적외선카메라와 2대의 지면반력기가 동조되어 사용되었다. 연구결과에 따르면 댄스보행의 보속, 활보장과 양 하지지지기시간은 후방보행보다 크고, 활보폭은 작았으며 관절각범위, 관절모멘트와 관절파워의 최대치 출현 빈도에서 댄스보행이 후방보행보다 더 많았다. 이러한 결과들은 댄스보행이 재활과 걷기운동에 후방보행에 버금가는 훌륭한 도구임을 판단하는데 충분하다.

• PNF and Movement
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• 제19권3호
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• pp.435-440
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• 2021

Purpose: The purpose of this study is to investigate the effects of older adult's head-turn gait on gait parameters by comparing with head oriented forward gait and to provide criteria for their risk of falling compared to young adult. Methods: The subjects were 19 young adults in their 20s and 18 older adults in their 60s or above residing in Daegu or Gyeongsangbuk-do. To evaluate their gait parameters, spatiotemporal gait parameters were measured using a gait analysis tool (Legsys, BioSensics, USA) under two conditions: 1) walking while keeping one's eyes forward and 2) walking while turning the head. The measurement for each test was performed after one practice session, and the mean value of three measurements was analyzed. The collected data were statistically processed using a two-way analysis of variance (ANOVA) to compare any differences in gait parameters between the two groups under the two conditions. The statistical significance level was set at α=0.05. Results: According to the comparison of gait parameters in young adult and older adult between the head oriented forward gait and head-turn gait, statistically significant differences were observed in two parameters: stride length according to the height ratio and stride speed obtained by dividing the stride length according to the height ratio by time (p<0.05). Conclusion: The results of this study indicate that the head-turn gait causes greater differences in stride length and speed among older adult than in young adult and therefore can act as a cause of falling.

• 감성과학
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• 제13권3호
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• pp.441-448
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• 2010

보행보조로봇은 고령화 사회에 노인 복지 및 중증 신경계 손상을 입은 환자에게 이동을 도울 수 있는 반드시 필요한 장비이다. 특히, 하지 마비 환자를 위한 보행보조로봇의 편리성을 위해서는 환자의 보행 의도를 내현적으로 파악함으로써 환자 의지에 따라 로봇을 통제할 수 있어야 한다. 본 논문은 보행 의도 감지 모델을 개발하기 위한 선행 연구로, 먼저 저항 센서와 기울기 센서의 융합을 통하여 3족 보행 모델을 기반으로 사용자의 보행 의도를 분석하였다. 저항 센서는 사용자의 양쪽 손바닥과 발바닥에 각각 부착되어, 부착된 위치의 압력을 센싱하였다. 양쪽 손바닥의 신호는 보행 의도를 파악하기 위해, 발바닥의 신호는 보행 단계를 확인하기 위하여 사용되었다. 기울기 센서는 몸의 움직임 상태를 측정하기 위한 센서로서, 사용자의 등 부분, 요추에 부착되어 상체의 움직임(roll, pitch)을 센싱하였다. 연구 결과, 사용자가 지팡이를 바닥에 짚을 때 양 손바닥에서 측정되는 2개의 저항 신호만으로 기본적인 보행 의도를 파악할 수 있었으나, 기울기 센서 정보를 함께 이용함으로써 오른발 뻗기, 왼발 뻗기 등의 움직임을 시작하려는 상태 등에 대한 보행 의도를 보다 구체적으로 확인할 수 있었다. 결론적으로, 본 연구를 통하여 저항센서와 기울기 센서의 융합에 기반한 사용자의 보행 의도를 감지할 수 있었다.

• 한국수산과학회지
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• 제20권3호
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• pp.177-184
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• 1987

통발과 자망 등에 어획되는 게류의 측면적인 보행운동은 매우 특이하여 어획 메카니즘을 밝히는데 매우 중요한 요소가 된다. 여기서는 해운대 동백섬의 조간대에서 채집한 풀게를 사용하여 망지위에서의 직선적인 운동과 회전 운동 등을 관찰하고 다리의 보행위치와 시간적인 변화를 분석하였다. 그 결과 망지위에서의 보행운동은 착지위치에 따라 그물코 사이로 다리가 빠지게 되는 불규칙적인 움직임이 대부분이므로 여러가지 보행 요인들의 편차가 게의 크기에 관계 없이 크게 나타났다. 풀게의 망지위에서의 보폭, 보행속도, 다리간의 위상차 등은 평면에서 보다 훨씬 작았으나, 보행주기, 다리마디간의 각도 등은 평면에서 보다 양간 증가하였다. 따라서 게가 자망에 걸리는 현상은 게의 크기에 따른 다리의 보행운동과 망지의 망목크기 등을 고려하여 세밀하게 조사되어야 할 것이다.

• 대한물리의학회지
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• 제15권4호
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• pp.145-153
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• 2020

PURPOSE: This study compares the effects of HUBER rehabilitation and general rehabilitation treatment on the coordination, balance, and walking ability of stroke patients. METHODS: This study enrolled 38 randomized stroke patients, and data was collected for 6 weeks. All participants were randomly assigned to either the experimental group (n = 19) or control group (n = 19). The experimental group were administered Huber rehabilitation and general rehabilitation treatment. The control group was given only general rehabilitation treatment. Both treatments were conducted for 30 minutes during each training session, 3 training sessions per week, for 6 weeks. The coordination, balance, and walking ability were evaluated before and after the intervention, to compare the intergroup and intragroup changes. RESULTS: Change in the right LOS (limit of stability) (p < .001) and forward LOS (p < .02) following intervention were significantly greater in the experimental group than in the control group, but no significant group difference was observed between left LOS (p > .1) and backward LOS (p > .2). Alterations in coordination (p < .02) and TUG (p <. 05) were significantly greater after intervention in the experimental group than in the control group. CONCLUSION: These findings suggest that HUBER rehabilitation is effective in improving the coordination, balance, and walking ability in stroke patients. To strengthen and validate the results of this study, future studies related to HUBER rehabilitation are required.

• 로봇학회논문지
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• 제9권3호
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• pp.133-139
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• 2014

This paper proposes a wearable and motorized crutch control system for the patients using the conventional crutches. The conventional crutches have a few disadvantages such as the inconvenience caused by the direct contact between the ground and the armpit of the patients, and unstable gait patterns. In order to resolve these problems, the motorized crutch is designed as a wearable type on an injured lower limb. In other words, the crutch makes the lower limb to be moved forward while supporting the body weight, protecting the lower limb with frames, and rotating a roller equipped on the bottom of the frames. Also the crutch is controlled using the electromyography and two force sensing resistor (FSR) sensors. The electromyography is used to extract the walking intention from the patient and the FSR sensors to classify the stance and swing phases while walking. As a result, the developed crutch makes the patients walk enabling both hands to be free, as if normal people do.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• 건설안전기술
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• 통권55호
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• pp.10-17
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• 2012

Aging society may approached to our society during snatch very, and enter in super aging society for more span. Investment that we which live 21th century are many in people's quality of life elevation meantime did not consist, but stand in visual point that must improve many portions forward. For front, repletions for many equipments that consider aged on our society must consist, and much researches may have to be gone for this. According to traffic accident result, percentage of older pedestrian deaths was 46.5% as much in Korea. In particular, the crossing accidents by 59% or more of the older pedestrian traffic safety measures that target is an urgent situation. Therefore, in this study was to identify the domestic status and problem on no-sidewalk region for older pedestrians. In addition, side walk the installation and maintenance plan presented to prepare for aging society.