• Korean Journal of Applied Biomechanics
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• v.17 no.2
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• pp.239-245
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• 2007

The purpose of this study was to compare the electromyography signal's power spectrum mean and median tendencies appearing in the lower extremity during walking while wearing roller shoes. 9 male subjects volunteered who have no experience riding inline-skate or roller-skate, and have no record of musculoskeletal disorder. Subjects walked on treadmill twice for an hour (Once a week, one trial with the roller on and the other without roller, Walking velocity = 1.39 m/s). Electromyography was measured every 15 minute (0, 15, 30, 45, 60 minutes). Surface electrode sticked muscle at rectus femoris(R.F.), vastus lateralis(V.L.), vastus medialis(V.M.), biceps femoris(B.F.), tibialis anterior(T.A.), gastrocnemius lateralis(G.L.), gastrocnemius medialis(G.M.). At Rectus femoris, Vastus Lateralis, Vastus medialis, and Biceps femoris showed no statistically significant decrease of median frequency or mean edge frequency as time passes. Also, between two treatments (wearing the roller shoes vs not wearing the roller shoes), no statistically significant difference. After 60 minutes, mean edge frequency showed statistically significant decrease at tibalis anterior and after 45 minutes, mean edge frequency showed statistically significant decrease compared to wearing roller shoes without the wheels at gastrocnemius lateralis. At gastrocnemius medialis after 30 minutes, median frequency showed statistically significant decrease, and showed statistically significant difference compared to the control group. Wearing the roller shoes with wheels for a long time resulted in statistically significant decrease of mean edge frequency and median frequency in lower extremity, especially in shank muscles. Increase of wearing time of roller shoes and walking on a bumpy road wearing roller shoes with wheels result fatigue and thus, danger of injury.

• Physical Therapy Rehabilitation Science
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• v.4 no.2
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• pp.115-120
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• 2015

Objective: To examine the effects of different shoe weights on lower leg muscle fatigue when walking by electromyographic (EMG) analysis due to the most effective weight for loading not being established. Design: Cross-sectional study. Methods: Thirty healthy university students (15 male, 15 female) were enrolled and randomly assigned into three conditions, which included wearing athletic shoes with an addition of 300 g, 500 g, and 1,000 g weights respectively. Prior to walking, all subjects were instructed to sit in a chair for 10 minutes. All subjects walked at a speed of 3.6 m/s on a treadmill for 20 minutes without rest. EMG measurements were taken using the median power frequency to assess for the effect of the different weight of shoes on muscle fatigue of the soleus, gastrocnemius, and tibialis anterior while walking on a treadmill in an upright posture. EMG measurements were taken during the first and last 30 seconds of walking. Results: In terms of muscle fatigue, for the soleus, the median power frequency was significantly lower with 1,000 g compared with 300 g and 500 g (p<0.05). For the tibialis anterior, the median power frequency was significantly lower with 1,000 g than 300 g and 500 g (p<0.05). For the gastrocnemius, the median power frequency was significantly lower with 1,000 g compared with 300 g (p<0.05). Conclusions: Increased shoe weight increases soleus, gastrocnemius, and tibialis anterior muscle fatigue during ambulation.

• Journal of Korean Biological Nursing Science
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• v.10 no.1
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• pp.96-104
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• 2008

Purpose: We had executed the 3 3 5 5 walking club program for 12 weeks for one hour three times per week to evaluate the effect of the program on health of the elderly. Methods: A pre and post measurement tool of the program was applied to measure obesity, rate of body fat, blood pressure, vital capacity, standard vital capacity, intake capacity of maximum oxygen, grasping power, reaction of whole body, pulse, body mass index (BMI), total bodily score, age of bodily strength, age of health. Data collected from this tool was analyzed by SPSS in paired t-test. Results: The 3 3 5 5 walking club program has affected the weight control of the participants. The participants of 3 3 5 5 walking club program reduced their weight from 61.7 kg to 61.25 kg, rate of body fat from 21.89 kg to 21.22 kg, standard vital capacity from 2,393.56 ml to 2,380.44 ml, reaction of whole body from 475.38 msec to 439.33 msec, and increased grasping power from 22.06 to 23.16 ml (p<.05), total bodily score 68.91 points to 71.38 points significantly (p<.05). Conclusion: The result indicated that the 3.3.5.5 Walking club program has an positive effect on improving health care of the elderly without special exercise tools.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1102-1109
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• 1993

This paper describes the research and development of Walking Tractors and Tillage Implements for Phase I (1991-1992) . The project consists of : (1) the study and need for the development of the walking tractors for Thailand and other Southeast Asian countries ; (2) the comparison in the use of the walking tractors and their transmission systems that are made in Thailand and aborad : and (3) the design of future walking tractors for Asian farmers in developing countries. The design of the walking tractors is concentrated to provide the ease to farmers, especially the elderly and female which will play an important role in the future agriculture of Thailand due to the lack of manpower. In addition , the design of the walking tractors is also aiming for small-scale farmers, the majority that have limited land capital. The walking tractors consist of several components but the most important one is the " Transmission System" . Thus, the research is concentrated in the devel pment an design of the a new transmission system. The new machine , currently developed, is named after the Chulalongkron University as " Chular Walking Tractor " , model SPJS -60. The tractor uses a 6-7 horsepower diesel engine with three forward gears and one reverse gear. The tractor also uses the latest gearing technology so called planetary gearing system with steering clutches system that never been used in any earlier model. The advantages of the planetary gearing system are : (1) the final drive gear can be small, and can be designed to provide higher strength with less wearing resistance, (2) the system eliminates a shaft which is used in other systems, thus reduces the weight and the manufacturing cost . Furthermore, the Chular Walking Tractor has an additional power take off shaft that can be used or linked with other standard agricultural implements.

• Journal of Electrical Engineering and Technology
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• v.13 no.6
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• pp.2493-2503
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• 2018

Passive dynamic walking exhibits humanoid and energy efficient gaits. However, optimal design of passive walker at multi-variable level is not well studied yet. This paper presents a Chaotic Particle Swarm Optimization (CPSO) algorithm and applies it to the optimal design of flexible passive walker. Hip torsional stiffness and damping were incorporated into flexible biped walker, to imitate passive elastic mechanisms utilized in human locomotion. Hybrid dynamics were developed to model passive walking, and period-one gait was gained. The parameters global searching scopes were gained after investigating the influences of structural parameters on passive gait. CPSO were utilized to optimize the flexible passive walker. To improve the performance of PSO, multi-scroll Jerk chaotic system was used to generate pseudorandom sequences, and chaotic disturbance would be triggered if the swarm is trapped into local optimum. The effectiveness of CPSO is verified by comparisons with standard PSO and two typical chaotic PSO methods. Numerical simulations show that better fitness value of optimal design could be gained by CPSO presented. The proposed CPSO would be useful to design biped robot prototype.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.551-554
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• 2001

A necessity of remote control robots or various searching robots etc. that accomplish works given instead of human under long distance and extreme environment such as volcano, universe, deep-sea exploration and nuclear power plant etc. is increasing, and so the development and the research regarding these mobile robots are actively progressing. The wheel mobile robot or the track mobile robot have a sufficient energy efficiency under this en, but also have a lot of limits to accomplish works given which are caused from the restriction of mobile ability. Therefore, recently many researches for the walking robot with superior mobility and energy efficiency on the terrain, which is uneven or where obstacles, inclination and stairways exist, have been doing. The research for these walking robots is separated into fields of mechanism and control system, gait research, circumference environment and system condition recognition etc. greatly. It is a research field that the gait research among these is the centralist in actual implementation of walking robot unlike different mobile robots. A research field for gait of walking robot is classified into two parts according to the nature of the stability and the walking speed, static gait or dynamic gait. While the speed of a static gait is lower than that of a dynamic gait, a static gait which moves the robot to maintain a static stability guarantees a superior stability relatively. A dynamic gait, which make the robot walk controlling the instability caused by the gravity during the two leg supporting period and so maintaining the stability of the robot body spontaneously, is suitable for high speed walking but has a relatively low stability and a difficulty in implementation compared with a static gait. The quadruped walking robot has a strong point that can embody these gaits together. In this research, we will develope an autonomous quadruped robot with an asaptibility to the environment by selectry appropriate gait, element such as duty factor, stride, trajectory, etc.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• The Journal of Korean Physical Therapy
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• v.25 no.5
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• pp.239-245
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• 2013

Purpose: Osteoarthritis occurs in many different joints of the body, causing pain, stiffness, and decreased function. The knee is the most frequently affected joint of the lower limb. The aim of this study was to investigate the differences of biomechanics between independent gait and anterior walker dependent gait of patients with osteoarthritis of the knee. Methods: Lower limb joint kinematics and kinetics were evaluated in 15 patients with knee osteoarthritis when walking independently and when walking with an anterior walker. Participants were evaluated in a gait laboratory, with self-selected gait speed and natural arm swing. Results: When walking with a dependent anterior walker, participants walked significantly faster (p<0.01), using a longer stride length (p<0.01), compared to independent gait. When walking with a dependent anterior walker, participants exhibited significantly greater knee flexion/extension motion (p<0.01) and lower knee flexion moment (p<0.05) compared to independent gait. When walking with a dependent anterior walker, participants showed significantly greater peak ankle motion (p<0.01), ankle dorsiflexion/plantarflexion moments (p<0.01), and ankle power generation (p<0.05) compared to independent gait. Conclusion: These biomechanical properties of gait, observed when participants walked with a dependent anterior walker, may be a compensatory response to impaired knee function to allow sufficient power generation for propulsion. Therefore, rehabilitative strategies for patients with osteoarthritis of the knee are needed in order to improve not only knee function but also hip and ankle function.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.4
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• pp.137-141
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• 2011

Driving mechanism, the central part of a robot, was designed in this study. Power for the motive drive was acquired by directly connecting the motor shaft in worm shape of the low-end DC motor, car window motor, to a decelerator. The decelerator consists of a worm gear to receive power from the motor shaft, a pinion gear to be connected in line with the worm gear, and an output shaft to be engaged to the pinion gear. Motion driving is achieved by the power from the motor shaft with the designed gears, transferred to the deceleration mechanism and to the output gear.