• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.427-433
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• 2013

Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body-flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair-climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.218-219
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• 2022

Among the Barrier Free (BF) certification evaluation items for public facilities, at which position the standard for the effective height of the stair railing handle should be calculated is not clearly determined. Because of this, not only the evaluation standards of the certification authority and the evaluation committee are different, but disputes are occurring between the ordering organization, the design company, and the construction company. Therefore, the stair railing installation standard laws for public facilities were analyzed and through a case study of institutions that obtained the BF certification, problems were analyzed. The results of problem analysis reveal the following. 1) The standards of the Ministry of Health and Welfare and the Ministry of Land, Infrastructure, and Transport were different. 2) The effective height calculation standard was ambiguous, and disputes occurred frequently. To solve this problem, we proposed improvement plans for calculating the height of the stair railing that can comply with laws while ensuring safety.

• The Journal of Korean Physical Therapy
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• v.25 no.6
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• pp.393-398
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• 2013

Purpose: The purpose of this study was to compare muscle activation patterns of lower extremities in stroke patients during stepper climbing, stair-up, and level-ground gait conditions by surface electromyography (EMG). Methods: Subjects included 19 hemiplegic patients comprehensive rehabilitation center for inpatients with stroke. Surface EMG was used to measure the subjects' medial gastrocnemius (GCM), tibialis anterior (TA), biceps femoris (BF), and rectus femoris (RF) activity as they took six steps during stepper climbing, stair-up, and level-ground gait conditions. Results: There was no significant difference in the BF or RF muscle activity for the stepper climbing, stair-up, and level-ground gait conditions. However, there were significant differences in the medial GCM and TA muscle activity between each condition on the patients' hemiplegic side(p<0.05). There was significant difference in the medial GCM, TA, RF, and BF muscle activity between each condition on the patients' non-hemiplegic side (p<0.05). Conclusion: As a result, the overall muscle activity during the level-ground gait was higher than the stair-up condition, and the muscle activity during the stair-up condition was higher than the muscle activity during the stepper climbing condition. As one of the many methods used for gait training, we suggest that the stepper exercise could be applied at an earlier stage in the gait training process.

• KIEAE Journal
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• v.10 no.3
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• pp.51-56
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• 2010

The sound insulation performance is one of the important factor that determined the amenity of housing life in residential building. Especially, Apartment house represents a korea habitation. So the importance of privacy and noise problems between habitable rooms are emphasized in these habitation. This study investigates and find a problem of sound insulation performance of partition wall of the apartment house in current state. The measurements were carried out in apartment house with and without a stair hall. And the measurements also carried out in current state and installing a sound absorbing material in receiving room and changing a front door and installing a inner door. In spite of the same partition wall, difference results were showed according to the stair hall. It is appeared that sound insulation performance without stair hall is 6-7dB(Dw) higher than that with stair hall. In case of without stair hall, sound insulation performance is Dw 49 for single number quantity for airbone sound. And In case of changing a front door and installing a inner door sound insulation performance is Dw 57 for single number quantity for airbone sound. The Results of measuring on the changes a front door and installed a inner door indicated that the flanking sound through front door influenced the sound insulation performance.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.21 no.12
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• pp.703-714
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• 2009

One of the biggest problems in smoke control systems for high-rise buildings is stack effect, but there are no recognized methods or measures to solve the problem of stack effect as yet. The stack effect can be overcome by forming the uprising current inside the stair hall properly, but there is a limit to the height in supplying into the stair hall the smoke control air volume to be supplied to a floor in case of escape from fire. The limit to the height can be extended by over-coming the stack effect by pressurizing the stair hall and the ancillary room simultaneously. It can also be anticipated that the stack effect can be overcome by connecting the air supply shaft to the stair hall at the top. As a result of computer simulations using a network type of tool, it is found that adequate performance can be achieved by pressurizing the stair hall only for a building of 190m or less, and up to 360m when pressurizing the stair hall and the ancillary room simultaneously. In all those cases, however, an overpressure venting damper is required which operates within a suitable range for venting the overpressure outside.

• PNF and Movement
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• v.15 no.1
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• pp.105-113
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• 2017

Purpose: The purpose of this case study was to examine the effects of an intervention based on the concept of proprioceptive neuromuscular facilitation (PNF) on the weight-supporting ability, fear of falling, and stair-walking ability of stroke patients. Methods: One pretest, three intervention sessions, and one posttest were conducted. In the tests, weight-supporting ability, manual muscle strength, the fear of falling, and the time to go up and down a 'ㄱ'-shaped stair-walking machine were measured and compared. The intervention was implemented for 30 minutes per day for three days in combination with general rehabilitation. The intervention was planned and implemented based on the concept of PNF, and the goal was for the subjects, after their consent, to walk backward down the stairs. Results: After the intervention, functional improvement was seen in weight-supporting ability and the fear of falling felt when walking down the stairs. Whereas the subjects could not perform the task of walking down the stairs on the 'ㄱ'-shaped stair-walking machine in the pretest, they could perform the task in the posttest, and their stair-climbing speed was greater than before the intervention. Conclusion: This study verified that a PNF-based intervention can improve stroke patients' weight-supporting ability and stair-walking ability. Therefore, this intervention can be clinically applied to stroke patients.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.815-817
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• 2022

This paper is about the development of an automatic stair climbing trolley for carrying loads without manpower. The design of tri-wheeled structure and center of mass enable the trolley to move on flat ground and also to ascend stairs by self-balancing. The overall design enables the trolley to avoid collision to walls when the trolley rotates on domestic landings. When the camera recognizes the stair, the sensor measures distance from the trolley to the stair. Then the trolley can move to align itself in the middle of the stair and it starts climbing. It can ascend to a specific floor based on the floor number entered by the user. As a result, the automatic stair climbing trolley is expected to help humans by protecting from accidents of dropping loads and saving their power. It is also expected to use for various purposes such as delivering packages, moving and carrying heavy loads in buildings without elevator.

• Physical Therapy Korea
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• v.15 no.2
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• pp.54-63
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• 2008

The purpose of this study was to examine the effect of the hip internal rotation on knee extensor and hip abductor electromyographic (EMG) activity during stair up and stair down mobility. Eighteen healthy subjects were recruited. All subjects performed stair up and down movements on a step of 30cm height while maintaining the hip in neutral (condition 1) and hip in internal rotation (condition 2). Surface EMG activity was recorded from five muscles (gluteus maximus, vastus lateralis (VL), vastus medialis oblique (VMO), posterior gluteus medius (Gmed), and tensor fascia latae (TFU)) and hip internal rotation angle was measured using a three dimensional motion analysis system The time period for stair up and down was normalized using the MatLab 6.5 program, and EMG activity was normalized to the value of maximal voluntary isometric contraction (%MVIC). The EMG activities according to the hip rotation (neutral or internal rotation) during the entire time period of stair up and down in each phase were compared using a paired t-test. During the entire period of stair up, the EMG activities of VL and TFL in condition 2 were significantly greater than in condition 1 (p<.05). During the entire period of stair down, the EMG activities of VL and TFL in condition 2 were significantly greater than in condition 1 (p<.05). However, the EMG activities of the other muscles were not significantly different between the conditions (p>.05). These results suggest that the stair up and down maintaining hip internal rotation was could be a contributing factor on patellar lateral tracking.

• Journal of the Korea Safety Management & Science
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• v.11 no.2
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• pp.103-110
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• 2009

The purpose of this study is to suggest a proper tread of stairs using kinematic factors and moments of the lower-limb joints in the stair decent with the 3 different treads with boimechanical method in ergonomics. 9 subjects (body masses; $59.41{\pm}7.49$, $64.03{\pm}6.65$, $67.26:{\pm}7.58$, heights; $160.50{\pm}6.35$ ages; $31.22{\pm}2.99$; parity; $1.67{\pm}0.71$) participated in three experiments that were divided by physiological symptoms (the early (0-15 weeks), middle (16-27 weeks) and last (18-39 weeks). and they walked at self-selected pace on 4 staircases 3 trials. As extending the pregnancy period, cadence was shorter but cycle time were longer more and more. As extending treads of stair decent during pregnancy, speed, stride lengths and cycle time were increased. As extending the treads of stair decent, hip and ankle moments increased but knee moments decreased in sagittal plane. There were increasing or decreasing of moments by means of treads. These changes may account for relation between the treads of stair and moments in pregnant women. The main changes of pregnant women were joint moments and kinematic factors during pregnancy period because pregnancy makes them physical changes. It is possible that joints have connection with compensation each other to maximize stability and to control gait motion. In conclusion, we suggest that the tread of stair is longer than 26cm tread. and exercise programs to improve muscle activity were necessary where joint moments were small.