• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.2-171
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• 2001

This paper presents a force control of a arm of walking training robot. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and constraining patients to walk freely. The proposed walking training robot is designed to unload body weight effectively during walking. The walking training robot consists of unloading manipulator and mobile platform. The manipulator driven with a electro-mechanical linear mechanism unloads body weight in various level. The mobile platform is wheel type, which allows to patients unconstrained walking. Unloading system with electro-mechanical linear mechanism has been developed, which has advantages such as low noise level, light weight, low manufacturing cost and low power consumption. A system model for the manipulator ...

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• Journal of Information Processing Systems
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• v.15 no.4
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• pp.785-796
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• 2019

Due to the view point, illumination, personal gait and other background situation, person re-identification across cameras has been a challenging task in video surveillance area. In order to address the problem, a novel method called Joint Bayesian across different cameras for person re-identification (JBR) is proposed. Motivated by the superior measurement ability of Joint Bayesian, a set of Joint Bayesian matrices is obtained by learning with different camera pairs. With the global Joint Bayesian matrix, the proposed method combines the characteristics of multi-camera shooting and person re-identification. Then this method can improve the calculation precision of the similarity between two individuals by learning the transition between two cameras. For investigating the proposed method, it is implemented on two compare large-scale re-ID datasets, the Market-1501 and DukeMTMC-reID. The RANK-1 accuracy significantly increases about 3% and 4%, and the maximum a posterior (MAP) improves about 1% and 4%, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.269-276
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• 2011

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

• The Journal of Korean Physical Therapy
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• v.17 no.4
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• pp.633-650
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• 2005

The aim of this study was to investigate the kinematics of young adults during ascent ramp climbing at different inclinations. Twenty-three subjects ascended a four step at four different inclinations(level, $8^{\circ},\;16^{\circ},\;24^{\circ}$). The 3-D kinematics was analysed by a camera-based falcon system. Groups difference was tested with one -way ANOVA and SNK test. The different kinematic patterns of ramp ascent were analysed and compared to level walking patterns. The kinematics of ramp walking could be clearly distinguished from the kinematics of level walking. In sagittal plane, Ankle joint was more dorsiflexed at initial contact and Max. dorsiflex. during stance phase with $16^{\circ},\;24^{\circ}$ inclination and more plantarflexed at toe off and Max. plantarflex. during swing phase with $24^{\circ}$(p<.001). Knee joint was more flexed at initial contact with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was more flexed at initial contact and Max. flex. during swing phase with $16^{\circ},\;24^{\circ}$ inclination and at toe off with $24^{\circ}$(p<.001) and was more extended at Max. ext. during stance phase with $24^{\circ}$(p<.05). In frontal plane, ankle joint was more everted at Max. eversion. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Knee joint was more increased at Max. varus. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was not differentiated with different inclinations. In horizontal plane, all joints were not differentiated with different inclinations. Conclusionally, In ascent ramp walking, the different gait pattern generally occurred at over $16^{\circ}$ on the ascending ramp in sagittal and frontal plane. These results suggest that there is a certain inclination angle or angular range where subjects do switch between a level walking and a ascent ramp walking gait pattern. This shows their motor control strategy between level and ascent ramp walking. Further studies are necessary to confirm and detect the ascent ramp gait patterns.

• The Journal of the Korea Contents Association
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• v.20 no.9
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• pp.486-493
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• 2020

The purpose of this study was to identify the effects of an exercise program for lumbar stabilization on static and dynamic balancing and gait of stroke patients. The subjects were 27 stroke patients, who were divided into an experimental group(n=14) and a control group(n=13). The exercise was conducted for 30 minutes a day, four times a week, and for six weeks. The variables included static and dynamic standing balance and gait, which were verified before and after the lumbar stabilization exercise. Using the IBM SPSS(19.0 version), data were analyzed with t-test and two-way ANOVA to validate the differences before and after the experiment and between the groups. The significance level was set at α = .05 and the results of this study are as follows. First, statistically significant differences were found in the static standing balance after the exercise (P< .05). Second, there were statistically significant differences in the dynamic standing balance after the exercise (P< .05). Third, statistically significant differences were found in the gait of the patients after the exercise (P< .05). In addition, the interactions between the two groups showed significant differences. These results suggest that stroke patients need a variety of lumbar exercises and that the lumbar stabilization exercise can improve physical treatment and health of the patients, having positive effects on their quality of life. Further studies are necessary to explore the applications of various lumber exercises.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.537-542
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• 2022

There is a limit to the current indoor air quality (IAQ) monitoring method using fixed sensors and devices. A mobile robot for IAQ monitoring was developed by mounting IAQ monitoring sensors on a small multi-legged robot to minimize vibration and protect the sensors from vibration while robot moves. The developed mobile robot used a simple gait mechanism to enable the robot to move forward, backward, and turns only with the combination of forward and reverse rotation of the two DC motors. Due to the simple gait mechanism, not only IAQ data measurements but also gait motion control were processed using a single Arduino board. Because the mobile robot has small number of electronic components and low power consumption, a relatively low-capacity battery was mounted on the robot to reduce the weight of the battery. The weight of mobile robot is 1.4kg including links, various IAQ sensors, motors, and battery. The gait and turning speed of the mobile robot was measured at 3.75 cm/sec and 14.13 rad/sec. The maximum height where the robot leg could reach was 33 mm, but the mobile robot was able to overcome the bumps up to 24 mm.

• The Journal of Korean Physical Therapy
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• v.30 no.4
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• pp.129-134
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• 2018

Purpose: This study aims to investigate the changes in pulmonary function, gait ability, and quality of life when NMES is applied along with CBE and to provide basic clinical data to be used in pulmonary rehabilitation guidelines for patients with COPD to treat patients with severe COPD. Methods: For this study, CBE and NMES of quadriceps femoris on both sides were applied to the experimental group (n=10), and only CBE was applied to the control group (n=10). For a pre-test, a 6-minute walk test was performed, and pulmonary function and health-related quality of life were measured. Moreover, an exercise program was applied to each group for 30 minutes per session, 5 times a week, for 6 weeks. After that, a post-test was conducted the same way as the pre-test. Results: In the within-group comparison, there were significant differences in forced expiratory volume in one second, 6-minute walk test and health-related quality of life between the experimental group and the control group (p<0.01)(p<0.05). In the between-group comparison, the experimental group showed an increase in forced expiratory volume in one second and 6-minute walk test (p<0.05) and showed a decline in health-related quality of life (p<0.05). Conclusion: The 6-weeks NMES program improved health-related quality in patients with severe COPD by increasing expiratory volume by reinforcing the function of quadriceps femoris. This finding implies that NMES could be an alternative mode for improving physical functions of patients with severe COPD, who cannot participate in a breathing exercise program or are reluctant to participate.

• Journal of the Korean Society of Physical Medicine
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• v.12 no.1
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• pp.9-14
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• 2017

PURPOSE: To evaluate the effect of weight shift training with Hula Hoop on weight shift change and gait in stroke patients. METHODS: Ten stroke patients were enrolled in this study, and randomly divided into 2 groups. The study group underwent weight shift training with Hula Hoop, while the control group received general physical therapy that included weight shift training. All the studies were performed over a period of 4 weeks. Before and after the intervention, plantar pressure and performance in the 10 m walk test (10MWT) were assessed. Wilcoxon signed ranks test was used to compare the change from before to after the intervention in each group. The differences between the study and control groups were analyzed by using the Mann-Whitney test. RESULTS: After 4 weeks of intervention, the change in weight shift and performance in the 10MWT from before to after the experiment showed no statistical significance (p>.05). In addition, the comparison between the groups showed no significance in terms of weight-shift change, and performance in the 10MWT (p>.05). CONCLUSION: Although the difference was not statistically significant, the degree of improvement was similar to that attained with the conventional exercise treatment related to weight- shift training. During the course of the treatment, the patients received feedback through repeated training by themselves. Weight-shift training with Hula Hoop would be effective in improving the walking ability and weight-shifting on the paralyzed side of stroke patients. In the future, the effectiveness of this training would need to be validated.

• Journal of the Korean Society of Physical Medicine
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• v.14 no.4
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• pp.63-70
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• 2019

PURPOSE: This study examined the effects of bilateral ankle dorsiflexors-strengthening exercise on the paralytic tibialis anterior activity, balance ability, and gait function of patients with chronic stroke. METHODS: Nineteen patients with chronic stroke were assigned randomly to the experimental and control groups. All participants received general physical therapy for 60-minutes per session, five times a week, for 6 weeks. In addition, the experimental group (n = 9) performed bilateral ankle dorsiflexion muscle-strengthening training three times a week, 30 minutes per session, for six weeks. The control group (n=10) performed the paraplegic ankle dorsiflexion muscle- strengthening training in the same manner. Before and after the intervention, the paralytic tibialis anterior muscle activity, timed up and go test (TUG), and 10m walking test (10 MWT) were performed. RESULTS: Both groups showed significant improvement in the post-intervention muscle activity of the paralytic tibialis anterior, TUG, and 10MWT compared to that before the intervention (p<.05), but the differences between the two groups were not significant (p >.05). CONCLUSION: Bilateral ankle dorsiflexors strengthening exercise is an effective cross-training method to improve the muscle activity of the paraplegic tibialis anterior, balance ability, and walking function in chronic stroke patients.