• 한국생산제조학회지
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• 제26권1호
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• pp.89-99
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• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• 한국정밀공학회지
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• 제30권4호
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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.

• 한국화재소방학회논문지
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• 제12권4호
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• pp.3-12
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• 1998

이 연구는 인간의 중요한 행동습성 중의 하나언 좌회전숨성윷 건축설계에 고려활 경우, 고총건 불의 지상총 피난계단은 좌회전계판(피난층으로 내려갈 때 좌회전하여 내려가도록 설계원 계딴) 으료 설계하는 것이 재실자가 보다 더 안전하고 빠료게 피난하는 데 효과적이라는 것윷 현장조사 및 실험을 통하여 규명하고자 한 것이다. 2 20충 규모의 고층건불윷 이용하여 펴난자가 펴난총으로 내려갈 때의 펴난속도를 측정한 결과, 오른손잡이의 경우는 좌회전계단의 사용이 우회전계탄(피난층￡로 내려갈 때 우회전하여 내려가 도흑 설계된 계란)의 사용시보다 편하고 빠른 반면, 왼손잡이의 경우는 우회전계란의 사용이 좌회 전계딴의 사용시보다 편하고 빠르다는 것윷 확인하였다, 그려고 우려나라논 94% 이상의 사람이 오른손잡이인 것으로 조사되었다 그러나 현재 우려나라 고층건울의 지상총 펴난계단은 조사결과 7 76% 이상이 우회전계딴임을 알 수 있었다. 이렇게 잘못 설계원 펴난계딴의 실태를 감안해 볼 때 이의 시정을 위해서는 판원볍규의 피난계딴 구조기푼에 고총건물의 지상층 펴난계딴은 좌회전계 딴요로 설계하도록 규정할 펼요가 있다.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2022년도 추계학술발표대회
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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 Rehabilitation Science
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• 제7권3호
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• pp.134-138
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• 2018

Objective: The aim of this research was to investigate the effects of functional electrical stimulation (FES) applied to the gluteus medius (Gm) and tibialis anterior (TA) during stair climbing in persons with stroke compared to FES applied to the TA only during stair climbing, and during stair climbing without FES in persons with stroke. Design: Cross-sectional study. Methods: Twenty subjects with stroke participated in this study. Subjects were included if: 1) they were diagnosed as stroke at least 6 months before; 2) had Mini Mental State Examination- Korean score of 24 or higher; 3) were able to climb a flight of 10 stairs independently (with or without walking aid). The patients walked 10 stairs 3 times with FES applied to the Gm and TA, only TA, or no FES. There was a 1-minute rest period between each bout. The assessments were made using the Timed Up & Down Test and the Wii Balance Board. Results: Stair climbing with FES applied to the Gm and TA was significantly faster than stair climbing with FES applied to the TA only and without FES (p<0.05). Stair climbing with FES applied to the Gm and TA exhibited significantly greater sway velocity than stair climbing without FES (p<0.05). However, maximal sway distances were not significantly different between groups. Conclusions: Stair climbing with FES applied to the Gm and TA can be an important component of a rehabilitation program for improving stair climbing ability in persons with stroke.

• 한국CDE학회논문집
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• 제16권6호
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• pp.391-396
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• 2011

Gait is walking attitude and indicating state. The body's gait is a good mix in the center of body mechanics and exercises to wake up gently at the same time switch is a pass which is complicated at legs various joints. The shifting action what swing phase and stance phase rhythmic movement of body. One from piece moves with different dot. Especially plain walking and stair walking as a vehicle has been used frequently. Characteristics of the stair walking while the balanced the horizontal and vertical movement. Stair walking often takes place in everyday. It requires large range more than walking at plain in the moment and joint range of gait motion. And consistently applied to joints and various types of loads at legs joint may involve joint disorders. In this study, spastic cerebral palsy existing artificial limbs for disabled people when developing calibration equinus deformity patients induce muscle pain when walking on stairs independently, to reduce the research. Comparing the characteristics of the walking up the stairs for analysis patellofemoral joint pain as a result it is to provide engineering data.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2022년도 봄 학술논문 발표대회
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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.

• 한국실내디자인학회논문집
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• 제23권2호
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• pp.193-200
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• 2014

This study aimed to evaluate how users are satisfied with village community center. It will develope and determine a most detailed design and requirements to maximizing for user's convenience. The study conducted interview survey using questionnaire based on universal design principles, to users of village centers that are in possible of cooperation of 25 village centers in Haw Soon district, Jeonnam province and used 160 cases to the analysis. The conclusion of this study is as follows. First, users showed most satisfaction about LDK space and dissatisfaction about design, stair/slope, entrance, and bathroom. Specially, users are dissatisfied with curtains at room and handralis at entrance. In terms of design, users about the indoor-outdoor environment as a whole was unsatisfactory. Second, survey on actual needs space scrutinized bathroom, kitchen, and stair/slope according to priority. In result of these surveys, user's satisfaction with village community center and actual needs space show needed improvements on bathroom and stair/slope space urgently.