• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• 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.

• 한국산학기술학회논문지
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• 제15권8호
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• pp.5219-5226
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• 2014

본 논문에서는 확률신경망 이론을 적용하여 GPS 단절구간에서 보행자의 위치정보의 정확도를 향상시키는 기법을 제안한다. 일반적인 보행 외 옆으로 걷기, 오리걸기, 기어가기 등 여러 보행 형태에 대한 보행 패턴을 학습하고 이에 대한 이동거리를 구하여 관성항법의 적분오차를 최소화하도록 한다. 제안 시스템은 보행자가 휴대할 수 있는 소형/경량화/저전력 설계된 H/W 모듈 형태로 구현을 하였으며, 건물 내에서의 보행자 이동 실험을 통해 제안 시스템의 성능을 검증하였다.

• The Journal of Korean Physical Therapy
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• 제30권1호
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• pp.14-22
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• 2018

Purpose: This study examined the effects of the lower limb alignment on the pelvis, hip, and knee kinematics in people with genu varum during stair walking. Methods: Forty subjects were enrolled in this study. People who had intercondylar distance ${\geq}4cm$ were classified in the genu varum group, and people who had intercondylar distance <4cm and intermalleolar distance <4cm were placed in the control group. 3D motion analysis was used to collect the pelvis, hip, and knee kinematic data while subjects were walking stairs with three steps. Results: During stair ascent, the genu varum group had decreased pelvic lateral tilt and hip adduction at the early stance phase and decreased pelvic lateral tilt at the swing phase compared to the control group. At the same time, they had decreased minimal hip adduction ROM at the early stance and decreased maximum pelvic lateral tilt ROM and minimum hip rotation ROM at the swing phase. During stair descent, the genu varum group had decreased pelvic lateral tilt at the early stance and decreased pelvic lateral tilt and pelvic rotation at the swing phase. In addition, they had decreased pelvic frontal ROM during single limb support and increased knee sagittal ROM during the whole gait cycle. Conclusion: This study suggests that a genu varum deformity could affect the pelvis, hip and knee kinematics. In addition, the biomechanical risk factors that could result in the articular impairments by the excessive loads from lower limb malalignment were identified.

• 대한정형도수물리치료학회지
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• 제13권1호
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• pp.36-43
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• 2007

Purpose: An objective analysis and observations were to be done on hemiplegia patients that are wearing a walking support device, Stroke shoes. Their improvements in walking pace, the reduction of distance between the two knee joint, the increase of curve angle of the knee joint and their steps and the reduction of ankle joint upon swing phase were analyzed using a 20 walking analyzer. Methods: An examination was carried out to see the patients' communication skill and independent walking and then let them walk with the Stroke shoes on to get results before and after wearing it. Simi Reality Motion Systems GmbH (Germany, 2007) was used to analyze the results regarding knee joint and ankle joint angle changes of sagitta plane and coronal plane, stepping distances, distances between the knees and walking pace. Results: 1. The articulation angle of ankle joint during swing phase decreased and knee joint has shown a statistically significant increase in such value(p<0.05). 2. Only knee joint showed a significant increase in articulation angle during heel strike(p<0.05). 3. Knee joint showed a significant increase in articulation angle during toe off(p<0.05). 4. The distance between the two knees as well as their foot steps significantly decreased compared with when Stroke shoes were not worn(p<0.05). 5. Stroke shoes with FES have shown positive effects on the patients in improving their walking styles overall. (p<0.05). Conclusion: There was an improvement in rotation walking pattern by a reduction in the distance between the knees after wearing Stroke shoes with FES. Plantar flexion reduced that occurred in ankle joint during walking and flexion angle increased in knee joint, both of which improved foot drop which was a major problem in hemiplegia patients. Also it is believed that the device will have some positive influences on knee joint stiffening paralysis to aid in improving inefficient walking phases.

• Physical Therapy Rehabilitation Science
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• 제3권2호
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• pp.134-141
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• 2014

Objective: The purpose of this study was to compare with different distance across three conditions in stroke survivors with the grading of cognitive state. Design: Cross-sectional study. Methods: Twelve stroke patients who agreed to active participation were included. Participants were allotted to normal cognitive (CN) group (n=7) and cognitive impairment (CI) group (n=5) and then walked on a self-paced walkway at three conditions on the Time Up and Go (TUG) test and the 6 minute walk test (6MWT): 1) walking with your comfortable speed, 2) walking while carrying a tray with glasses, 3) walking with a verbal cognitive task. The TUG test was repeated three successful times on each condition. For the 6MWT, participants were tested one time. Results: The CI group walked slower than the CN group at the three conditions on the TUG test. However, there was no significant difference between two groups to each condition. A significant effect of dual tasking was found only in error of verbal cognitive task condition for the TUG test (p<0.05). On the 6MWT, the participants in the CI group walked short distance rather than the CN group (p<0.05). There were significant differences between two groups not only at all conditions but also at error of verbal cognitive task condition as well (p<0.05). Conclusions: To consider the results of different distances such as the TUG test and the 6MWT, we think that exercises in long distance would be more effective to patients with CI. Those would be improved patient's endurance in cognitive problem.

• 융합정보논문지
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• 제9권3호
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• pp.128-133
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• 2019

본 연구는 정상인에게 스마트 신발을 착용 시킨 후, 6분 보행검사와 일어나 걸어가기 검사를 실시하여 연구자가 측정한 데이터와 스마트 신발 센서 데이터가 동일 및 유사한지 확인 하고자 하였다. 정상 성인 남성 10명으로 진행을 하였으며 스마트 신발을 착용 한 후 6분 보행검사와 일어나 걸어가기 검사를 실시하여 데이터를 분석 하였다. 본 실험의 결과를 보았을 때 현재 센서의 정확도는 높은 편으로 보여 진다. 6분 보행검사의 거리에 차이가 나타난 것은 실제 30m 트랙에서 계산하지 않는 반환점도 거리를 측정하기 때문에 차이가 나타난 것으로 보인다. 이러한 관점에서 보았을 때 스마트 신발이 좀 더 정확한 거리를 측정 하였다고 볼 수가 있으며 추후 스마트 센서를 통한 다양한 검사가 가능 할 것으로 보여 진다.

• The Journal of Korean Physical Therapy
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• 제27권6호
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• pp.407-412
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• 2015

Purpose: This study aimed to evaluate changes in the balance ability of patients whose head positions were altered due to stroke. Subjects were divided into three groups to determine the effects of the training on dynamic balance and gait. Methods: Forty-two stroke patients were enrolled. The Visual Feedback Training (VFT) group performed four sets of exercises per training session using a Sensoneck device, while the Active Range of Motion (ART) group performed eight sets per training session after receiving education from an experienced therapist. The Visual Feedback with Active Range of Motion (VAT) group performed four sets of active range of motion and two sets of visual-feedback training per session using a Sensoneck device. The training sessions were conducted three days a week for eight weeks. Results: The comparison of changes in dynamic balance ability showed that a significant difference in the total distance of the body center was found in the VFT group (p<0.05) and Significant differences were found according to the training period (p<0.05). The comparison of the 10 m walk test showed that the main effect test, treatment period and interactions between group had statistically significant differences between the three groups (p<0.05). Conclusion: Head-adjustment training using visual feedback can improve the balance ability and gait of stroke patients. These results show that coordination training between the eyes and head with visual feedback exercises can be used as a treatment approach to affect postural control through various activities involving the central nervous system.

• 재활복지공학회논문지
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• 제8권4호
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• pp.305-312
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• 2014

본 연구에서는 재활정도를 정량적으로 표현하기 위하여 정상 보행과 모의 비정상 보행 시 보행주기에 따른 근전도 패턴에 고차 곡선 맞춤을 적용하여 분석하였다. 보행 근전도 패턴에 적합한 다항식을 생성하였으며, 그 변수를 군집분석 하여 5개의 그룹으로 분류하였다. 정상패턴을 포함한 그룹을 기준으로 거리가 가까운 그룹을 나열하여 각 변수의 분포를 확인하였다. 진폭감소 패턴, 불규칙 패턴, 역상 패턴 순으로 정상 패턴에 유사하였으며, 분류된 그룹의 분포는 중첩되는 범위가 작아 변수 값을 이용한 그룹 분류가 가능하였다. 분류된 재활정도를 정량적으로 나타내기 위하여 각 계수항의 표준편차를 패턴별로 비교하였고, 정상에 가까울수록 큰 값을 가지는 것을 확인하였다. 역상 패턴의 경우는 편차 값은 크지만 부호가 음의 값을 가지므로 가장 작았다. 본 연구의 결과인 정량적인 재활정도의 표현은 보다 효율적인 재활방법 연구에 기여할 것으로 예상된다.