• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1997년도 춘계학술대회
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• pp.131-135
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• 1997

We implementated an ultrasonic wave cane for the blind. The cane detect walking obstacle and provide a walking direction. The cane used time of flight method of ultrasonic-wave for a measurement of obstacle distance and fluxgate geomagnetic sensor for guidance of walking direction. This system can detect an obstacle of upward, forward, downward and that warn to the blind with vibration, pitch sound. And the blind can know walking direction to voice output. As a result, the blind could efficiently avoid a exposed obstacle, obstacles beyond knee, an exposed street obstacle, a branch of tree person's height and it is usable search for surrounding land mark.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.585-592
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• 2008

The aging society comes, the number of the old people expended. Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these required technological solutions, a demonstrator platform for a walking assistance robot. robot which has the capability to perform fetch and carry and various other supporting tasks. In this study, we addresses the development of a walking assistance robot system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Each motion of the robot uses a linear actuator and gears. Motion can be distinguished into 3 parts depending on the up & down, rotation, and cushion trans. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the walking assistance robot is validated through preliminary experiments.

• International Journal of Advanced Culture Technology
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• 제9권4호
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• pp.320-328
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• 2021

As the number of visually impaired people steadily increases, interest in independent walking is also increasing. However, there are various inconveniences in the independent walking of the visually impaired at present, reducing the quality of life of the visually impaired. The white cane, which is an existing walking aid for the visually impaired, has difficulty in recognizing upper obstacles and obstacles outside the effective distance. In addition, it is inconvenient to cross the street because the sound signal to help the visually impaired cross the crosswalk is lacking or damaged. These factors make it difficult for the visually impaired to walk independently. Therefore, we propose the design of an embedded system that provides traffic light recognition through object recognition technology, voice guidance using TTS, and upper obstacle recognition through ultrasonic sensors so that blind people can realize safe and high-quality independent walking.

• Physical Therapy Rehabilitation Science
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• 제7권2호
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• pp.49-53
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• 2018

Objective: This study was performed to examine differences in the association between straight and curved walking abilities of inpatients in the subacute phase and walking independence level. Design: Cross-sectional study. Methods: Subjects were divided into an independent group and a supervised group (n=10 each) by walking independence level within the ward decided by physical therapists. Inclusion criteria comprised the ability to ambulate independently within the ward, regardless of the use of walking aids. Straight walking abilities (walking velocity, stride length, and cadence) were evaluated using the 5-meter walk test. Curved walking abilities were evaluated using the Figure-of-8 Walk Test (F8W) and the 3-meter zigzag walk test (3ZW). Differences in associations between straight and curved walking abilities of inpatients were examined by calculating correlation coefficients between straight and curved walking abilities. Results: Age, walking velocity, stride length, F8W and 3ZW varied markedly between independent and supervised groups. In the independent group, F8W and 3ZW correlated significantly with walking velocity and cadence (p<0.05). In the supervised group, F8W correlated significantly with walking velocity and stride length (p<0.05), but 3ZW did not correlate significantly with straight walking abilities. Conclusions: The association between straight and curved walking abilities varied between inpatients who could ambulate independently and inpatients requiring supervision for ambulating. These differences may depend on skill on straight and curved walking abilities. There is a possibility that curved walking exercise is necessary for supervised group.

• 대한임상전기생리학회지
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• 제10권2호
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• pp.7-14
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• 2012

Purpose : This study investigated the validity of crosswalk signal time length with regards to elderly stroke patients. Methods : We recruited 60 elderly adults sixty years of age or older for our study. The participants were divided into three groups.Group A consisted of 20 healthy participants with no walking aids. Group B consisted of 20 stroke patients with no walking aids. Group C consisted of 20 stroke patients using a cane as a walking aid. We measured the walking times of participants for 7 m, 14 m and 21 m lengths. Results : Using an independent t test, there was a statistically significant difference in the walking times between Group A and Group B for all lengths. There was a statistically significant difference in the walking times between Group A and Group C for all lengths. There was no statistically significant difference in the walking times between Group B and Group C. There was a statistically significant difference between the three group when using ANOVA. Conclusion : From the results of this study, we infer that the signal times at crosswalks are inappropriate for elderly stroke participants who use a cane as a walking aid. Therefore further research should be conducted to determine the appropriate amount of additional time needed for the elderly to safely cross the street.

• 한국지능시스템학회논문지
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• 제18권5호
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• pp.692-699
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• 2008

본 논문은 보행보조기 사용자의 사용자 의지 파악을 통해 보행보조기의 최적 구동 방법을 제시하고자 한다. 최근에 노인인구의 증가로 인해 노인 및 장애인을 위한 보행 보조기에 대한 관심이 증가되고 있다. 그러나 대부분의 경우 동력이 없는 시스템으로써 경사 등의 공간에서 취약성을 가지고 있다. 이에 동력형 보행보조기에 대한 관심이 증가되고 있으나, 대부분의 경우 보행보조기 조종이 여의치 않다. 이에 본 논문에서는 사용자의 보행 의지를 파악할 수 있는 시스템을 도입하고 이를 기초로 보행자의 안정적인 구동을 수행할 수 있도록 퍼지 기반의 알고리즘을 적용한다. 먼저 사용자의 의지력은 FSR 센서를 이용하여 파악하고, 이를 기초로 사용자가 이동하고자 하는 이동 방향과 이동속도에 대해 퍼지 알고리즘을 적용하였다. 퍼지알고리즘으로부터 나온 데이터를 기초로 보행보조기의 차량 속도와 방향에 대해 구동 바퀴의 차동 구동을 통해 사용자의 의지에 맞춰 구동할 수 있도록 하였다. 이를 통해 사용자의 이동하려는 의지에 대해 안정적으로 차량을 이동시킬 수 있도록 최적의 보행 시스템을 구축하였다. 이 모든 과정을 실험을 통해 검증하였다.

• 한국산학기술학회논문지
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• 제13권6호
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• pp.2664-2671
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• 2012

본 연구는 노인들의 신체적 특성이 보행 속도에 어떠한 영향을 미치는지 알아보기 위하여 시행되었다. 연구대상자는 보조도구의 사용에 관계없이 독립보행이 가능한 노인 77명(남 38명, 여자 39명)을 대상으로 하였다. 상관분석과 단계적 다중 선형 회귀분석을 사용하여 신체적 특성(연령, 성별, 신장, 체중, 신체질량지수, 근육량, 허리/엉덩이둘레비, 심박수, 폐활량, 유연성, 최대산소섭취량, 눈감고 한발 서기)과 하지 근력(슬관절 신전근, 슬관절 굴곡근)이 보행 속도와 어떠한 관련성이 있는지 분석하였다. 보행 속도는 연령, 신장, 폐활량, 눈감고 한발 서기 시간, 슬관절 굴곡근 및 신전근의 근력과 상관관계가 있었다. 또한 슬관절 굴곡근에 의해 보행 속도는 27%로 설명력을 가지고 있었으며, 슬관절 신전근 변수가 추가되었을 때 설명력은 32%로 높아졌다. 이러한 결과는 노인의 보행 속도가 하지의 근력과 다양한 신체적 특성에 영향을 받는다는 것을 의미한다.

• 한국전문물리치료학회지
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• 제12권1호
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• pp.54-62
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• 2005

The purpose of this study was to find the effects of using aid in enhancing walking ability inpatients with spinal cord injury who have received rehabilitative care. The study population consisted of 24 spinal cord injury patients referred to the Department of Rehabilitation Medicine in the National Rehabilitation Center (NRC). All subjects were ambulatory with or without an assistive devices. All of the participants were assessed on SCIM II, WISCI II, FIM, MBI, gait speed (m/s), and walking endurance (120 min/m). The data were analyzed using a paired t-test, a one-way ANOVA, and a Duncan test. The results revealed that TSCIM II and all of the items of SCIM II of the cervical ASIA D group patients were higher than those of the Thoracic ASIA A and C group patients (p<.05). The FIM, MBI, and WISCI II of the cervical ASIA D group patients were higher than those of the Thoracic ASIA C group patients (p>.05). The walking velocities of the lumbar ASIA C group patients were higher than those of Thoracic ASIA A group patients (p<.05). The walking endurance of the lumbar ASIA C group patients was higher than that of the thoracic ASIA C group patients (p<.05). The ASIA D group patients used bilateral standard canes or crutches, but none used AFO. The ASIA A and C group patients used bilateral standard walkers with KAFO for standing and walking. The findings suggest that injury level as well as the functionality of walking aids should be considered when formulating a rehabilitative plan for patients with spinal cord injury.

• 재활복지공학회논문지
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• 제3권1호
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• pp.7-13
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• 2009

최근 노인인구의 증가로 인해 고령자를 위한 보행 보조기에 대한 관심이 증가되고 있다. 하지만 대부분의 경우 동력이 없는 시스템으로 경사 등의 공간에서 취약성을 가지며, 사용자가 다리에 힘이 없을 경우 편하게 이동할 수 없다는 단점이 있다. 따라서 동력형 보행보조기에 대한 관심이 증가되고 있다. 대부분의 보행보조기의 사용자는 고령자 이며 사용이 간편하며 편리해야 한다. 따라서 본 논문에서는 사용자의 편리성 증진을 위해 다양한 센서 즉, 가변저항, 힘센서, 스트레치 센서 등을 사용하여 사용자의 보행의지를 파악하기 위한 장치를 개발하였다. 또한 개발된 장치에 대한 평가를 하기위해 센서의 응답성 및 복원성을 20ms단위로 측정하여 비교 평가하였다. 결과적으로 가변 저항형 핸들바의 응답성은 420ms 이며 복귀성은 380ms이고 힘센서를 이용한 핸들바 응답성은 320ms 이며 복귀성은 220ms이다. 스트레치 센서의 응답성은 160ms, 복귀성은 140ms으로 가장 뛰어난 것을 검증하였다.

• 한국정밀공학회지
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• 제31권12호
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• pp.1141-1146
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• 2014

As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.