• Physical Therapy Rehabilitation Science
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• v.11 no.2
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• pp.215-223
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• 2022

Objective: This study was to resolve the limitations of the experimental environment and to solve the shortcomings of the method of measuring human gait characteristics using optical measuring instruments. Design: A cross-sectional study. Methods: Fifteen healthy adults without a history of orthopedic surgery on the lower extremities for the past 6 months were participated. They were analyzed gait variables using the smart guide and the 3D image analysis at the same time, and their results were compared. Visual-3D was used to calculate the analysis variables. Results: The reliability and validity of the data according to the two measuring instruments were found to be very high; gait speed(0.85), cycle time(0.99), stride time of both feet(0.98, 0.97) stride legnth of both feet(0.86, 0.88) stride per minute of both feet(0.99, 0.96), foot speed of both feet(0.90, 0.91), step time of both feet(0.77, 0.71), step per minute(0.72, 0.74), stance time of both feet(0.96, 0.97), swing time of both feet(0.93, 0.79), double step time(0.81), initial double step time(0.84) and terminal step time(0.76). Conclusions: In the case of the smart insole, which measures human gait variables using the pressure sensor and inertial sensor inserted in the insole, the reliability and validity of the measured data were found to be very high. It can be used as a device to replace 3D image analysis when measuring pathological gait.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.182-189
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• 2005

The human knee joint is the intermediate joint of the lower limb that is the largest and most complex joint in the body. Understanding of joint-articulating surface motion is essential for the joint wear, stability, mobility, degeneration, determination of proper diagnosis and so on. However, many studies analyzed the passive motion of the lower limb because of the skin marker artefact and some studies described medial and lateral condyle of a femur as a simple sphere due to the complexity of geometry. Thus, in this paper, we constructed a three-dimensional geometric model of the human knee from the geometry of its anatomical structures using non-uniform B-spline surface fitting as a study for the kinematic analysis of more realistic human knee model. In addition, we developed and verified 6-DOF contact model of the human knee joint using $C^2$ continuous surface of the inferior region of a femur, considering the relative motion of shank to thigh during locomotion.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3092-3094
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• 1999

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.124-131
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• 2017

This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

• Journal of Music and Human Behavior
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• v.7 no.2
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• pp.65-81
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• 2010

This single case study is to examine the gait parameter changes of a 12-year old patient with Cerebellar Astrocytomas using RAS in gait training program. Kinematic and temporospatial changes were analyzed using VICON 370 Motion Analysis System. A total of nine RAS gait training sessions was provided and each training program took 30 minutes. Gait analysis revealed that the patient showed improvement in cadence, velocity, stride length, and step length and improved the range of joint movements by showing gait patterns similar to normal distribution from a pathological pattern. This study showed possibilities to apply the RAS technique to the various population including clients with cerebellum damaged; however more further research should be done in this area.

• Journal of Biomedical Engineering Research
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• v.22 no.5
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• pp.459-468
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• 2001

The Average Coordinate Referenee System (ACRS) method is developed to reduce experimental errors in human locomotion analysis. Experimentally measured kinematic data is used to conduct analysis in human modeling, and the model accuracy is directly related to the accuracy of the data. However. the accuracy is questionable due to skin movement. deformation of skeletal structure while in motion and limitations of commercial motion analysis system . In this study. the ACRS method is applied to an optically-tracked segment marker system. although it can be applied to many of the others as well. In the ACRS method, each marker can be treated independently. as the origin of a local coordinate system for its body segment. Errors, inherent in the experimental process. result in different values for the recovered Euler angles at each origin. By employing knowledge of an initial, calibrated segment reference frame, the Euler angles at each marker location can be averaged. minimizing the effect of the skin extension and rotation. Using the developed ACRS methodology the error is reduced when compared to the general Euler angle method commonly applied in motion analysis. If there is no error exist in the experimental gait data. the separation and Penetration distance of the femoraltibial joint using absolute coordinate system is supposed to be zero during one gait cycle. The separation and Penetration distance was ranged up to 18 mm using general Euler angle method and 12 mm using the developed ACRS.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.8
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• pp.889-895
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• 2007

Quantifying dynamic stability is important to assessment of falling risk or functional recovery for leg injured people. Human locomotion is complex and known to exhibit nonlinear dynamical behaviors. The purpose of this study is to quantify major joints of the body using chaos analysis during walking. Time series of the chaotic signals show how gait patterns change over time. The gait experiments were carried out for ten young males walking on a motorized treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The correlation dimension and the largest Lyapunov exponent were calculated from the time series to quantify stabilities of the joints. This study presents a data set of nonlinear dynamic characteristics for eleven joints engaged in normal level walking.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.983-984
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• 2009

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.135-143
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• 2003

This paper presents the impact minimization of a biped robot by using genetic algorithm. In case we want to accomplish the designed plan under the special environments, a robot will be required to have walking capability and patterns with legs, which are in a similar manner as the gaits of insects, dogs and human beings. In order to walk more effectively, studies of mobile robot movement are needed. To generate optimal motion for a biped robot, we employ genetic algorithm. Genetic algorithm is searching for technology that can look for solution from the whole district, and it is possible to search optimal solution from a fitness function that needs not to solve differential equation. In this paper, we generate trajectories of gait and trunk motion by using genetic algorithm. Using genetic algorithm not only on gait trajectory but also on trunk motion trajectory, we can obtain the smoothly stable motion of robot that has the least impact during the walk. All of the suggested motions of biped robot are investigated by simulations and verified through the real implementation.