• Proceedings of the Korean Society of Computer Information Conference
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• 2012.07a
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• pp.411-412
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• 2012

본 논문에서는 인간의 가장 기본적이며 기초적인 운동인 걸음걸이로부터 검출할 수 있는 걸음 수 및 보행분석을 위해 전도성 섬유를 이용한 전기용량성압력 센서를 깔창형태로 개발하였다. 개발된 깔창 형태의 센서는 보행시의 압력을 측정하여 보행신호를 검출하고, 검출된 신호를 이용하여 걸음 수 및 보행 분석을 실시하였다. 개발된 센서의 성능 검증을 위하여 상용 만보계 및 관찰자의 수계로 도출된 보수를 비교하였으며, 자세에 따른 압력차이를 측정하였다. 기존의 상용 만보계는 저속(1 Km/h)으로 걸었을 때 보수가 잘 측정되지 않은 반면 개발된 센서는 저속에서도 관찰자 수계대비 정확한 보수를 도출 할 수 있었다. 또한 자세에 따라 압력 값을 토대로 사용자의 자세를 모니터링 할 수 있음을 보였다. 본 연구는 향후 스마트폰과 무선 연동하는 스마트 보행관리 시스템을 개발하기 위한 기초연구이다.

• Journal of the Korea Society of Computer and Information
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• v.17 no.8
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• pp.107-114
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• 2012

We have developed a textile capacitive pressure sensor for smart gait analysis. The proposed system can convert sensor signal into step counts and pressure levels by different posture. To evaluate the performance of insole type textile capacitive sensor, we measured capacitance change by increment of weights from 10 kg to 100 kg with 10 kg increment using M1 class rectangular weights (four 20 kg weights and two 10 kg weights) which have ${\pm}10%$ tolerance. The result showed non-linearity characteristic of a general capacitive pressure sensor. The test was performed according to a test protocol for four different postures (sitting, standing, standing on a left leg and standing on a right leg) and different walking speeds (1 km/h and 4 km/h). Five healthy male subjects were participated in each test. As we expected, the pressure level was changed by pressure distribution according to posture. Also, developed textile pressure sensor showed higher recognition rate (average 98.06 %) than commercial pedometer at all walking speed. Therefore, the proposed step counts and posture monitoring system using conductive textile capacitive pressure sensor proved to be a reliable and useful tool for monitoring gait parameters.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2376-2383
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• 2015

Assistance of the operator’s walking ability while carrying a load is a challenging area in lower limb exoskeletons. We implement an exoskeleton called the Unmanned Technology Research Center Exoskeleton (UTRCEXO), which enables the operator to walk with a load more comfortably. The UTRCEXO makes use of two types of DC motor to assist the hip and knee joints. The UTRCEXO detects the operator’s walking intention including step initiation with insole-type FSRs faster without using any bio-signals and precedes the operator’s step with a reference torque. It not only reduces interaction forces between the operator and the UTRCEXO, but also allows the operator to walk with a load more comfortably. In this paper, we present the UTRCEXO implementing the walking assistance mechanism with interaction force reduction during walking.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.107-115
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• 2017

In this paper, four-bar linkage mechanism for the knee joint is developed which is used in prosthetics. But unlike the prosthetics, the feature of this mechanism is that the instantaneous center of rotation of the four-bar linkages can be moved behind the ground reaction force vector so that it can be passively supported without any external power. In addition, this mechanism is developed similar to the structure of the human knee joint for eliminating the sense of heterogeneity of the wearer. In order to design the mechanism with these two objectives, optimization design process is done using the PIAnO tool and detailed design is carried out through optimized variable values. The developed mechanism is attached to the robot which can assist the hip and ankle joints. In order to verify the operation of the developed knee mechanism, an insole type sensor was attached to the shoes to compare data values before and after wearing the robot. Result data showed that wearer wearing the exoskeleton robot with the knee mechanism was the same value regardless of whether the heavy tool is loaded or not.

• 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 the Korean Society of Clothing and Textiles
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• v.41 no.3
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• pp.420-432
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• 2017

This study examined user needs for compression pant development for women with pes planus in their 50s and 60s. A total of 355 women aged 50 to 69 participated in the survey and interview. Questions were asked if they had pes planus, the using condition of foot orthotic, inconveniences during gait, and wearing condition of compression pants. The results showed that 42 (11.8%) women had pes planus. Orthotic insole and arch support were used most frequently. The most uncomfortable aspect of foot orthotic (n=146) was that it was difficult to use unless they were going outside. Participants with pes planus responded that they felt discomfort on the inner area of propodium, metatarsus, ankle, and knee during gait. The purchase and wearing rate of compression pants were not high; however, compression pants were purchased with specific needs and purposes. Respondents mainly wore the compression pants for sports activities. M size was the most frequently worn size. They preferred high waist type leggings and there was a need to increase the compression strength of the waist, thigh, knee and ankle. Additionally, the ease of donning and doffing were discussed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.654-670
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• 2020

Workers at construction sites are easily exposed to many dangers and accidents involving falls, tripping, and missteps on stairs. However, researches on construction site monitoring system to prevent work-related injuries are still insufficient. The purpose of this study was to develop a wearable textile pressure insole sensor and examine its effectiveness in managing the real-time safety of construction workers. The sensor was designed based on the principles of parallel capacitance measurement using conductive textile and the monitoring system was developed by C# language. Three separate experiments were carried out for performance evaluation of the proposed sensor: (1) varying the distance between two capacitance plates to examine changes in capacitance charges, (2) repeatedly applying 1 N of pressure for 5,000 times to evaluate consistency, and (3) gradually increasing force by 1 N (from 1 N to 46 N) to test the linearity of the sensor value. Five subjects participated in our pilot test, which examined whether ascending and descending the stairs can be distinguished by our sensor and by weka assessment tool using k-NN algorithm. The 10-fold cross-validation method was used for analysis and the results of accuracy in identifying stair ascending and descending were 87.2% and 90.9%, respectively. By applying our sensor, the type of activity, weight-shifting patterns for balance control, and plantar pressure distribution for postural changes of the construction workers can be detected. The results of this study can be the basis for future sensor-based monitoring device development studies and fall prediction researches for construction workers.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.442-449
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• 2013

This study was to compare a domestic comfort shoes to the popular import(SAS$^{(R)}$) to gain a better understanding in biomechanical characteristics for shoe design for the elderly. For each shoe type, morphologic dimensions, shock absorption, and flexibility were assessed. From subjects(n = 20, $72.4{\pm}5.5$ years, $67.7{\pm}7.9$ kg), mean peak pressure(MPP) and contact area(CA) at the plantar surface were analyzed. The domestic shoes reflecting anatomic contour of the plantar surfaces of Asians resulted in wider CA(by 30.4 $cm^2$), higher shock absorption(by 2.4%) and stiffness(by 0.5 N/mm) than the import. With the domestic shoes, significantly less MPPs were found at the forefoot(by 42~49%) regions(p < .05) and higher CA was noted additionally at hallux and lessor toes(by 26~63%). More anatomically-contoured insole and favorable mechanical characteristics may help reduce the plantar pressures more effectively and more evenly, especially across the central forefoot and midfoot regions of the plantar surface, especially for the design of the comfort shoes for the elderly.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.1
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• pp.199-205
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• 2013

The purpose of this study was to analyze the changes in gait according to four style of bag's carryied method and three different bag's weights. Twenty healthy adults participated in four conditions. The first condition, they wearing a bag on one side shoulder and walked. The second condition, they carried a bag sling across on shoulder and walked. The third condition, they carried a bag on a back using both shoulders and walked. The fourth condition, they hold a bag in their right hand and walked. During all four conditions participants wore a SmartStep insole in their right shoe and had a pressure control device strapped to their right ankle. Each participant walked 10 meters carrying a 2.5 kg, 5 kg and 7.5 kg bag under all four conditions. There were significantly differents in stance phase rate; swing phase rate and walking speed according to bag weight of 2.5 kg, 5 kg, 7.5 kg.