• Korean Journal of Applied Biomechanics
• /
• v.18 no.2
• /
• pp.1-9
• /
• 2008

The purpose of this study was to investigate the effect of different obstacle heights on the plantar foot pressure during obstacle crossing. Sixteen healthy adults who had no musculoskeletal disorders were instructed to perform unobstructed level walking and to step over obstacles corto 10cm, 20cm, 30cm. Plantar foot forces and pressures were recorded by the Footmat system(Tekscan, Boston, USA) during level and obstacle walking with barefoot. Plantar foot surface was defined as seven regions for pressure measurement; two toe regions, three forefoot regions, one midfoot region, one heel region. One-way ANOVA was used to compare each region data of foot according to various heights. The results indicated that there are significant differences on peak pressure and maximal forces regarding each region at stance phase. As height of obstacle became high, the pathway of COP had a tendency to be short and abducted. Plantar pressure of foot could be changed by obstacle height and these findings demonstrated that obstacle with different height have an effect on structure and function of the foot.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.2
• /
• pp.11-17
• /
• 2008

Falls associated with tripping over an obstacle can be dangerous, yet little is known about the strategies used for stepping over obstacles by Parkinson's patients. The purpose of this study was to investigate stepping over gait characteristics according to obstacle height in Parkinson's patients. The gait of 7 Parkinson's patients was examined during a 5.0 m approach to, and while stepping over, obstacles of 0, 2.5, 5.2, and 15.2 cm. Only five Parkinson's patients were able to clear all obstacles successfully; as such, only their data were analyzed. A one-way ANOVA for repeated measures was employed for selected kinematic variables to analyze the differences of the height of four obstacles. The results showed significant differences between obstacle height and: approaching speed (AS), foot clearance from the obstacle(FC), and step width (SW). The results showed no significant differences between obstacle height and: crossing speed (CS), toe distance (TD), and heel distance (HD). This strategy tends to reduce the risk of toe contact with the obstacle. Parkinson's patients were stepping over the obstacle slowly, stably and inefficiently.

• Physical Therapy Korea
• /
• v.20 no.3
• /
• pp.9-18
• /
• 2013

The study aimed to compare the effect of the treadmill walking training combined with obstacle-crossing (TWT-OC) and treadmill walking training (TWT) on the walking function of patients with chronic stroke. 29 subjects volunteered to participate in this study; they were randomly assigned to either TWT-OC group (15 subjects) or TWT group (14 subjects). Subjects from the TWT-OC group underwent a treadmill walking combined with obstacles-crossing for 30 minutes daily, three days a week for four weeks, whereas subjects from the TWT group received only a treadmill walking. The 10 m walk test (10MWT), 6-min walk test (6MWT), berg balance scale (BBS), timed up and go test (TUG), activities-specific balance confidence-Korean version (ABC-K), and walking ability questionnaire (WAQ) were measured before and after the 4-week training. The TWT-OC group showed significantly better functional mobility of walking and balance measured by 6MWT (p<.01), BBS (p<.01), and TUG scores (p<.05) when compared with those of the TWT group. Further, within-group comparison showed significant improvement in all variables (p<.01) except for 10MWT. These findings suggest that the TWT-OC and TWT may be helpful for improving the walking function of patients with chronic stroke, and the TWT-OC has probably more favorable outcomes for chronic stroke, however, further trials with wider range of subjects are warranted for generalization and clinical relevance.

• Journal of the Korean Society of Physical Medicine
• /
• v.9 no.1
• /
• pp.69-74
• /
• 2014

PURPOSE: The aim of this study is to compare the spatio-temporal gait parameters between paretic and non-paretic limb while stepping over the different obstacle's heights in subjects with stroke. METHODS: Nine subjects with stroke were participated in this study. Subjects were asked to step over obstacles with a different height. 8 camera motion analysis system(Motion Analysis Corporation, Santa Rosa, USA) was used to measure spatio-temporal parameters. The two way repeated measurement ANOVA was used to compare spati-temporal gait parameters between paretic and non-paretic limbs while stepping over a different obstacle's height(0cm, 10cm, 20cm). RESULTS: Step width, velocity, single supoort time, and double support time were not different among obstacle's height(p>0.05) but stride length, step length, and cadence were significantly different(p>0.05). In stride length, cadence, and double support time, the interactions between obstacle's heights and limbs were not different(p>0.05) but it was significantly different in velocity, step length, and single support time(p<0.05). Velocity, stride length, cadence, and double support times were not different between paretic limb and non-paretic limb(p>0.05) but step length and single support times were significantly different between paretic limb and non-paretic limb(p<0.05). CONCLUSION: These results show that there are differences with spatio-temporal gait parameters among obstacle's heights and between paretic and non-paretic limb during obstacle crossing in subjects with stroke.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.11
• /
• pp.152-162
• /
• 1996

A four-legged Walking Machine can move on the plain terrain with mobility and stability and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra time to cross those obstacles and the stability should be considered during motion. The main objective is the study 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 terrestrial vertebrates move. Each leg of a Quadruped has a limited walk space called a walking volume and this is very important to deter- mine 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 information from scanner and finally can move with mobility and stability.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.697-703
• /
• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.05a
• /
• pp.159-163
• /
• 2004

The KNR(Korean National Railroad) has a speed limit regulation(130km/h) for the train passing the turnout to guarantee a safety. Since that speed is set as below the maximum commercial speed(140km/h), it has been regarded as a major factor to obstacle the total efficiency. The crossing rail part of the turnout system is formed into a antisymmetric, furthermore, there are several discontinuous part. Thus, measuring the strain signals of this part is impossible actually and it must be in the most difficult work related the turnout research. In this research, the program that can anticipate the signals at the various conditions with considering its own shape was developed and the preciousness of its results had been examined by comparing analyzed and measured ones at the other parts. The simulation was performed with varying the factors such as train speed and contact depth. As a results, it was proved that the regulation was not useless and very important guide at least up to now.

• Proceedings of the Korea Contents Association Conference
• /
• 2013.05a
• /
• pp.381-382
• /
• 2013

본 연구의 목적은 젊은 성인과 노인의 장애물 보행 시 신체질량중심의 변위와 최대속도를 3차원적으로 비교 분석하여 노인의 낙상위험 및 균형능력을 평가할 수 있는 중요한 요소가 될 수 있는지를 검증하는데 있다. 본 연구의 대상은 건강한 젊은 성인 10명(남성 6명/여성 4명, $24.6{\pm}1.9$세)과 65세 이상 건강한 노인 10명(남성 1명/여성 9명)으로 선정하였다. 각 피험자 신장의 10% 높이의 장애물 보행을 실시하였으며 동작 분석 장비를 통해 신체질량중심의 변위와 최대속도를 3차원적으로 분석하였다. 전후방향에서는 젊은 성인 집단의 변위가 더 크고(p=.019) 최대속도가 더 빠르게 나타났으며(p<.001), 좌우방향에서는 노인 집단의 변위가 더 크고(p=.004), 더 빠르게 나타났다(p<.001). 수직방향에서의 변위는 유의한 차이가 없었고(p=.135), 최대 속도는 젊은 성인 집단이 더 빠르게 나타났다(p<.001). 신체질량중심의 좌우방향에서의 크고 빠른 움직임은 노인의 동적 균형능력 저하로 인해 넘어가는 발(swing limb)의 안정적인 지지면 딛기를 위한 보상적 조절로 여겨지며, 따라서 노인의 낙상위험 및 균형능력을 평가할 수 있는 중요한 요소가 될 수 있을 것으로 사료된다.

• Proceedings of the National Institute of Ecology of the Republic of Korea
• /
• v.2 no.4
• /
• pp.274-278
• /
• 2021

Road structures play an important role in collisions involving vehicles and wildlife. Our study aimed to determine the effect of various types of road structures on the risk associated with roadkill. We surveyed 50 previously identified roadkill hotspots, ranked from one to five according to roadkill density. We collected nine types of road structure data on each hotspot road section. Structures with similar characteristics were grouped together, resulting in five categories, namely, median barrier, high edge barrier, low edge barrier, speed, and visibility. We examined the existence of each road structure category at each hotspot rank. The cumulative link model showed that the absence of bottom blocked median barrier increased the roadkill hotspot rank. Our study concluded that a visual obstacle in the middle of roads by the median barrier decreases wildlife road crossing attempts and roadkill risk. We suggest that future roadkill mitigation plans should be established considering these characteristics.

• Journal of the Korean Professional Engineers Association
• /
• v.15 no.4
• /
• pp.12-24
• /
• 1982

East Parts of Bangladesh have been benifited by low cost energy generated by domestic natural gas but West parts where energy generated by imported fuel. Bangladesh Government authority has very much concerned to transmit the low cost electricity to the West from the East for past several years. To solve such concerns, cross-country 230kv double circuits Power transmission line was proposed, however there was a big obstacle for the realization of this line to cross the Jamuna river which has 12 km long width with a deep muddy river bed. A consultant engineering firm named Merz-Mclellan anyway finalized this plan and a world-wide bid was announced on June 31, 1979. Due to the expected difficulty to construct the towers on sea like area, only three construction groups have participated. including a Korean joint venture organization of Samsung-Korean Developement corporation-Kolon Electric Machinery company. After 3 months bid evaluation, contract was awarded to Korean Consosium and KEM Co was in charge of designing steel towers with anchor bolts and base plates beside to electrical engineering field. Then KEM Co have faced and over-comed many unenpected technical difficulties such as forced eccentricity joint on base plate, distorsion issue of 60mm thick plates welding, threading anchor bolts, tad heat treatment of some anchor bolts, disagreement from Consultant Engineer on multiplying factor of leg stresses for 45$^{\circ}$ wind and on reducing O.L.F for wind loads on cables for such 1220km long spans. After spending two years long period for designing and engineering towers, base plates, and anchor bolts, first shipment of tower was finally realized on Nov. 8, 1981 and on the other hand KDD has proceeded concrete caisson work on schedule at Jamuna river site and expected to complete tower erection and stringing of cables within this year of 1982 which was original completion target.