• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2007년도 춘계학술대회 학술발표 논문집 제17권 제1호
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• pp.113-116
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• 2007

본 논문은 인간의 보행에 대한 에너지 분석을 통해 biped robot의 설계 단계에서 최적의 보행제어인자를 추출하기 위한 연구이다. 에너지 효율이 높은 보행인자 값을 얻기 위해 인간의 보행영상을 획득하고, 획득된 영상을 5-link biped robot model로 근사화하여 dynamics와 energy를 분석한다. 또한 link의 길이 비율과 link의 무게, link의 관성의 변화를 통해 5-link로 근사화된 인간의 보행 효율과 기구적 요소 사이의 민감도를 판단할 수 있다. 인간과 자유도가 다른 biped robot이 인간과 같은 보행을 위하여 설계단계에서 고려되어야할 중요한 기구적 요소가 이러한 민감도를 통해 구해진다.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1994년도 춘계학술대회
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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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.151-152
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• 2009

본 논문에서는 진화연산 기법중 GP(Genetic Programming)를 이용한 관절좌표계 상에서의 걸음새 자동생성 기법과 생물체의 신경발생 신호 원리를 이용한 CPG(Central Pattern Generator) 기법을 구현한다. 바이올로이드로 구성된 4족 보행로봇에 대하여 Webots기반의 ODE 시뮬레이션을 통해 접근 기법들에 대한 최적화를 수행하고 결과를 비교 분석한다. 그리고 구해진 시뮬레이션과 결과를 실제 로봇에 대해서 각 동작을 실행시켜 보면서 CPG와 GP 기반 걸음새 방식 실제적인 성능 및 특성도 고찰한다.

• The Journal of Korean Physical Therapy
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• 제21권1호
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• pp.35-40
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• 2009

Purpose: The purpose of this study was to investigate change of muscle activities during level walking, stairs and ramp climbing in old adults. Methods: Twelve old adults were recruited and agreed this study. Muscle activity was measured by MP150 system (BIOPAC System Inc., Santa Barbara, USA). Statistical analysis was used one-way ANOVA to know the difference according to gait conditions (level walking, stairs and ramp ascending) Results: In stance phase, muscle activities of low extremities with old adults were generally significant difference in ramp ascending. In swing phase, rectus femoris and biceps femoris activity in old adults generally more increased during stairs ascending and tibialis anterior and gastrocnemius activity in old adults generally increased during ramp ascending. Conclusion: These results indicate that stair and ramp climbing is different muscle recruit pattern to level walking.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.414-417
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• 2002

This paper describes the possibility of analyzing gait pattern from the variation of the lower leg electrical impedance. This impedance is measured by the four-electrode method. Two current electrodes are applied to the thigh and foot., and two potential electrodes are applied to the lateral aspect, medial aspect, and posterior position of lower leg. We found the optimal electrode position for knee and ankle joint movements based on high correlation coefficient, least interference, and maximum magnitude of impedance change. From such features of the lower leg impedance, it has been made clear that different movement patterns exhibit different impedance patterns and impedance level.

• The Journal of Korean Physical Therapy
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• 제22권6호
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• pp.21-28
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• 2010

Purpose: The purpose of this study was to investigate the kinematic adaptation of head and trunk to ascend stairs and a ramp. Subjects were healthy young adults. Three-dimensional kinematic patterns of head and trunk movements were examined during stair climbing and steeper ramp climbing. Methods: Fourteen young subjects with no history of chronic or acute musculoskeletal, cardiovascular or respiratory disorders took part in this experiment. Kinematic data were collected using a 6 camera Vicon system (Oxford Metrix, Oxford, England). Repeated measures ANOVA analyses were used to investigate the effect of gait mode on kinematics of the head and trunk. Results: The angle of the trunk while ascending stairs or a ramp was modified in three human planes (p<0.05). The angle of head and neck during the ascending of stairs or a ramp was not changed in the sagittal plane but was changed in the frontal and transverse planes (p<0.05). Conclusion: This study describes and discusses some basic kinematic mechanisms underlying the pattern of head and trunk changes during stair and ramp climbing and showed that postural adaptation of the head and trunk is necessary to maintain balance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• 대한물리치료과학회지
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• 제2권4호
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• pp.823-833
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• 1995

The purposes of this review are that 1) what is the the concept of motor control, 2) what is the content of motor control assessment, and 3) which instruments or scales are used in clinical setting. Motor control is defined broadly the control of both movement and posture. And motor control focuses on understanding the control of movement already acquired. The purposes of assessment are screening, placement to apprpriate treatment program, program plan, evaluation, and progress assessment for individuals. The content of motor control assessment is included not only fexibility, tone, reflex & reaction, muscle strength, movement pattern, balance, gait, and functional ability, but also cognition, arousal, sensation, and perception. There ars many kinds of instruments or scales for assessing motor ability. Most of materials are tested the validity and reliability. But Korea has not own instrument for assessing motor ability. Therefore, Korea needs to develop the assessing tools for motor ability.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2009년도 춘계학술발표논문집
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• pp.119-122
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• 2009

본 연구는 뇌졸중으로 인한 편마비 환자 20명을 대상으로 총 8주간 시지각 운동 과제를 적용하여 자세 균형, 보행 양상에 미치는 효과를 검증하고자 시행하였다. 실험군(n=10)과 대조군(n=10) 모두 보존적인 물리치료를 실시하였고 실험군에는 시지각 운동 과제 프로그램을 더하여 실시하였다. 본 연구의 결과는 실험군의 되먹임 측정을 통한 자세 균형 검사에서 편평한 지면 위에서 눈을 뜨고 감은 상태의 안정성 지수는 유의한 감소를 보였으며, pillow 위에서 눈을 뜨고 감은 상태의 안정성 지수도 유의하게 감소하였다. 체중분포지수는 편평한 지면에서 눈을 뜨고, 감은 상태와 pillow 위에서 눈을 뜨고 감은 상태 모두에서 유의하게 감소하였다. 실험군에서 10m 보행 속도는 대조군과 달리 유의하게 증가하였다. 본 연구에서의 시지각적 운동과제 프로그램은 편마비 환자의 신체기능과 관련된 자세균형 및 보행을 증진시키는 효과가 있었고 이에 보다 효과적인 운동방법으로 제시할 수 있다.