• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.152-158
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• 2022

As various mobile robots and manipulator robots have been commercialized, robots that can be used by individuals in their daily life have begun to appear. With the development of robots that support daily life, the interaction between robots and humans is becoming more important. Manipulator robots that support daily life must perform tasks such as pressing buttons or picking up objects safely. In many cases, this requires expensive multi-axis force/torque sensors to measure the interaction. In this study, we introduce a low-cost two-axis pressure sensor that can be applied to manipulators for education or research. The proposed system used three force sensitive resistor (FSR) sensors and the structure was fabricated by 3D printing. An experimental device using a load cell was constructed to measure the biaxial pressure. The manufactured prototype was able to distinguish the +-x-axis and the +-y-axis pressures.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Journal of Korean Academy of Nursing
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• v.36 no.5
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• pp.863-871
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• 2006

Purpose: A descriptive correlational study was designed to examine the relationship of trait anger and anger expression to blood pressure, cholesterol, and depression in middle-aged Korean men. In addition, this study investigated the mediating effect of social support in relation to anger and other variables. Methods: Two hundred and ninety nine men aged 40 to 64 years were recruited from a health center at K University Hospital located in Ansan City, Kyungki province, Korea. The instruments used were Spielberger's state trait anger expression inventory-the Korean version for trait anger and anger expression, Beck's depression inventory for depression, and a Personal resource questionnaire for perceived social support. Results: Men with high trait anger showed significantly higher systolic blood pressure(BP) and diastolic BP The level of cholesterol did not have a significant relationship with trait anger and anger expression. The severity of depression was significantly higher in men with high trait anger or more frequent uses of anger-in or anger-out. The perceived social support had a significant mediating effect in relation to trait anger and depression. Conclusions: Various nursing interventions for managing anger or improving social support need to be developed in a future study.

• Journal of the Korean Applied Science and Technology
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• v.35 no.3
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• pp.948-955
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• 2018

The purpose of this study was to compare plantar pressure and COP parameters in three types of arch support insole during stair descent in elderly with flatfoot. A total of 14 women elderly were recruited for this study. Pedar-X was used to obtain plantar pressure(peak pressure, mean pressure, and contact area) and COP(distance, displacement, excursion) parameters. One-way ANOVAs were used to compare peak pressure, mean pressure, and contact area, distance of COP, displacement of COP, and excursion of COP. Among the plantar pressure parameters, significant(p<0.05) differences were observed in M3 for the peak pressure, M2, M3, and M4 for the mean pressure, and M2, M3, and M6 for the contact area. Among the COP parameters, distances of COP both in the mediolateral and anteroposterior axes revealed significant(p<0.05) differences. The larger peak pressure values of type A and B insoles were observed as compared to normal insole. The larger peak pressure and shorter COP distance values of type A and B insoles were observed as compared to normal insole.

• Journal of the Korean Society of Physical Medicine
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• v.7 no.1
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• pp.21-28
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• 2012

Purpose : The purpose of this study was to examine the gait parameter and plantar foot pressure of adults with Down syndrome(DS) during walking in order to provide data for developing evidence-based deficit or common rehabilitation strategies. Method : 15 participants with DS(12 men, 3 women; age $26.06{\pm}4.47$) and 15 healthy subjects(12 men, 3 women; age $25.33{\pm}3.43$) were matched age. They walked at self selected speeds on a GAITRite system and RS-scan system, and had the following measurements done: cadence, stride length, step width, foot angle, percent stance, percent double support, and plantar foot pressure in 10 areas of the foot. Results : In comparison of gait parameter(cadence, stride length, step width, foot angle, percent stance, and percent double support) between adults with DS and healthy subjects, there was significant differences(p<.05). Regarding plantar foot pressure during gait with or without DS, there were statisically significant differences in the area of Toes 1-5, Metatasal 1-4, Midfoot, and Heel(Medial and lateral)(p<.05). Conclusion : Our data show that DS walk with a less physiolosical gait pattern and plantar foot pressure than healthy subjects. Based on our results, DS patients need targeted rehabilitation and exercise strategies.

• Tunnel and Underground Space
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• v.17 no.6
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• pp.453-463
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• 2007

Terzaghi's tunnel pressure theory is generally used to estimate primary design pressures on tunnel support for shield and urban NATM tunnels until now. A trial is made in this paper to investigate the interaction between the ground deformation behavior and Terzaghi's tunnel pressure, which assumes pound's limit (or critical) state, by considering results of 'Terzaghi's tunnel pressure theory. two-dimensional reduced-scale model tunnel tests and nonlinear numerical analysis based on strain softening modeling. A full understanding between tunnel pressure and ground deformation behavior under the tunnel excavation and an effective utilization of this interaction lead to an economical tunnel support design and a safe construction of tunnel.

• The Journal of Society for e-Business Studies
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• v.23 no.2
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• pp.33-47
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• 2018

City gas pipelines are buried underground. Because of this, pipeline is hard to manage, and can be easily damaged. This research proposes a real time prediction system that helps experts can make decision about pressure anomalies. The gas pipline pressure data of Jungbu City Gas Company, which is one of the domestic city gas suppliers, time variables and environment variables are analysed. In this research, regression models that predicts pipeline pressure in minutes are proposed. Random forest, support vector regression (SVR), long-short term memory (LSTM) algorithms are used to build pressure prediction models. A comparison of pressure prediction models' preformances shows that the LSTM model was the best. LSTM model for Asan-si have root mean square error (RMSE) 0.011, mean absolute percentage error (MAPE) 0.494. LSTM model for Cheonan-si have RMSE 0.015, MAPE 0.668.

• PNF and Movement
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• v.15 no.3
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• pp.343-351
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• 2017

Purpose: This study aimed to suggest effective lunge exercise methods for various purposes by comparing differences in the muscle activity of thigh and plantar pressure according to changes in base of support during lunge exercises. Methods: The subjects were 20 college students who agreed to participate in the experiment. They performed three types of lunges-a basic lunge (BL), wide lunge (WL), and narrow lunge (NL). In a static position during each lunge, the muscle activity of the thigh and plantar pressure were measured. Each movement was maintained for 7 seconds, and the muscle activity for the 3 seconds in the middle was measured and analyzed. The plantar pressure was divided into six areas for analysis. The subjects randomly performed the lunges to prevent the influence of an experimental sequence. Each movement was performed three times, and the mean value of the three measurements was analyzed. Results: The analysis of muscle activities in the thigh during the three lunge movements showed statistically significantly higher muscle activity of biceps femoris in WL and NL than BL. Moreover, the analysis of plantar force showed statistically significant differences between BL and WL and WL and NL on the medial-forefoot and medial-midfoot, as well as between BL and WL and BL and NL on the lateral-midfoot. The analysis of plantar contact pressure exhibited statistically significant differences between BL and NL and WL and NL on the medial-forefoot, as well as a statistically significant difference between WL and NL on the medial-midfoot and lateral-hindfoot. Conclusion: This study suggests that changing the base of support during lunges can be useful to suit the purposes of various rehabilitation programs.

• Tribology and Lubricants
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• v.39 no.4
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• pp.154-166
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• 2023

This study establishes a numerical analysis model of the finite element overhung rotor supported by a DTRB and describes the stiffness properties of the DTRB. The vibration characteristics and contact pressure of the RBR system are predicted according to the DTRB support characteristics such as the initial axial compression and roller profile. The stiffness of the DTRB significantly varies depending on the initial axial compression and external load owing to the occurrence of rollers under the no-load condition and increase in the Hertz contact force. The increase in the initial axial compression increases the rigidity of the DTRB, thereby reducing the displacement of the RBR system and simultaneously increasing the natural frequency. However, above a certain initial axial compression, the effect becomes insignificant, and an excessive increase in the initial axial compression increases the contact pressure. The roller crowning radius, which gives a curvature in the longitudinal direction of the roller, decreases the displacement of the RBR system and increases the natural frequency as the value increases. However, an increase in the crowning radius increases the edge stress, causing a negative effect in terms of the contact pressure. These results show that the DTRB support characteristics required for reducing the vibration and contact pressure of the RBR system supported by the DTRB can be designed.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.47-57
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• 2016

In this paper, we measured human body signals in order to verify a active harness system that we developed for gait and balance training. The experimental procedure was validated by tests with 20 healthy male subjects. They conducted motions of Activities of Daily Living(ADL)(Normal Walking, Stand-to-Sit, Sit-to-Stand, Stair Walking Up, and Stair Walking Down) according to body weight support rates (0%, 30%, 50% of subjects' body weight). The effectiveness of the active harness system is verified by using the results of foot pressure distribution. In normal walking, the decrease of fore-foot pressure, lateral soleus muscle and biceps femoris muscle were remarkable. The result of stand-to-sit results motion indicated that the rear-foot pressure and tibialis anterior muscle activities exceptionally decreased according to body weight support. The stair walking down show the marked drop of fore-foot pressure and rectus femoris muscle activities. The sit-to-stand and stair walking up activities were inadequate about the effect of body weight support because the velocity of body weight support system was slower than male's activity.