• 한국공간구조학회논문집
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• 제4권4호
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• pp.65-76
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• 2004

Walking loads are usually considered as nodal loads in the finite element vibration analysis of structures subjected to walking loads. Since most of the walking loads act on elements not nodes, the walking loads applied on the elements should be converted to the equivalent nodal walking loads. This paper begins with measuring walking loads by using a force plate equipped with load cells and investigates the characteristics of the walking loads with various walking rates. It is found that the walking loads are more affected by walking rates than other parameters such as pedestrian weight, type of footwear, surface condition of floor etc. The measured walking loads are used as input loads for a finite element model of walking induced vibration. Finally, this paper proposes the equivalent nodal walking loads that are converted from the walking loads acting on elements based on finite element shape functions. And the proposed equivalent walking loads are proved to be applicable for efficient analysis of floor vibration induced by walking loads.

• 한국컴퓨터정보학회논문지
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• 제24권1호
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• pp.159-166
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• 2019

Recently, the advanced development of smart devices has increased the interest in health-care, and many people are paying more attentions to disease prevention than disease treatment. Among these prevention methods, the bare body movement has received much attention, and especially walking exercise is attracting much attention because it is enjoyable without any restrictions on place and time. Walking exercise is generally divided into two types: walking on the ground and climbing the stairs. Walking up the stairs consumes much more calories compared to walking on the ground. These walking exercises have the advantage that they can be easily performed by male and female without special equipments or economic considerations. However, there is a lack of applications and systems that accurately determine such walking and stair walking and measure momentum according to stair walking. In this paper, we designed and implemented a real-time walking status analysis system using smartwatch's, pedometer, smartphone's barometer and beacons.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2001년도 봄 학술발표회 논문집
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• pp.414-421
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• 2001

Recently, the damping effect of building structures are greatly reduced because the use of non-structures members as like curtain wall are decreased and large open space are in need for the service of buildings. Assembly and office buildings with a lower natural frequency have a higher possibility of experiencing excessive vibration induced by human activities as like jumping, running and walking. These excessive vibration make the occupants uncomfortable and the serviceability deterioration. The common method of application of walking loads for the vibration analysis of structures subjected to walking loads is to inflict a series unit walking load and a periodic function at a node. But this method could not consider the moving effect of walking. In this study, natural frequency and damping ratio of plate structure are evaluated by heel drop tests. And new application of equivalent walking loads are introduced for vibration analysis of real slab system subjected to walking loads. The response obtained from the numerical analysis are compared well to the results measured by experimental tests. It is possible to efficiently analyze the vibration of floor which is subjected to walking loads by applying equivalent walking loads.

• 대한물리치료과학회지
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• 제15권3호
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• pp.55-63
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• 2008

Background : The Purposes of this study were to understand difference between free walking and obstacle over walking through the naked eye and motion analysis device, and to review merits of obstacle walking training as item of functional assessment in clinical situations. Methods : All participants were male and performed 3 types of walking methods: free walking, obstacle over walking with low block(height=10cm, width=8cm), and obstacle over walking with high block(height=20cm, width=8cm). All walking were performed 3 trials respectively. Results : In the naked eye, initial contact with toes occurred more than heel strike in obstacle over walking, and the flexion angle of hip and knee were increased in obstacle over walking. On interpretations though motion analysis device, cadence, gait speed and weight accept were significant statistically(p<.05). Cadence and gait speed were decreased, and weight accept duration was increased in obstacle over walking. Rotation among three pelvic motions was significant statistically(p<.05), flexion among three hip motions was significant statistically(p<.05) and flexion among three ankle motions was significant statistically(p<.05). Rotation and flexion among three ankle motions was significant statistically(p<.05). Conclusion : Both the naked eye and interpretations of the device presented many difference between free walking and obstacle over walking. In overcrossing obstacles, many participants appeared walking strategy by perform initial contact with toes. Knee flexion was most significant statistically(p<.05) in obstacle over walking with 20cm block.

• 한국전산구조공학회논문집
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• 제15권1호
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• pp.173-188
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• 2002

보행하중을 받는 바닥판 구조물의 진동해석을 위해서 일반적으로 계측한 보행하중을 적용하거나 Bachmann의 보행하중식을 사용하게 된다. 다양한 매개변수의 영향을 받는 보행하중은 계측이 쉽지 않으며 Bachmann 보행하중식은 보행진동수가 2.OHz와 2.4Hz로 제한적이기 때문에 다양한 보행진동수에 따른 보행하중을 적용하기가 곤란하다. 따라서 보행하중을 받는 구조물의 진동해석을 위해서 보행하중의 매개변수 분석과 다양한 보행진동수에 적용이 가능한 보행하중의 모형화가 필요하다. 본 논문에서는 로드셀이 장착된 계측 플레이트를 이용하여 바닥판에 가해지는 보행하중을 직접 계측하고 매개변수를 분석하였다. 그리고 퓨리에 변환을 이용하여 계측한 보행하중을 다양한 진동수를 가지는 조화하중으로 분해하였다. 분해과정을 거쳐 얻은 조화하중의 계수들을 보행진동수에 대한 일정한 함수관계로 유도하여 보행하중을 모형화하였다. 본 논문에서 제안한 보행하중식을 이용하면 다양한 보행진동수에 따라 다르게 나타나는 보행하중을 구조물의 진동해석에 용이하게 적용할 수 있다.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall 2000
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• pp.159-166
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• 2000

Structures with a long span have a higher possibility of experiencing excessive vibration induced by human activities such as walking, running, jumping and dancing. These excessive vibration give occupants annoyance. The general method for the vibration analysis of structures subjected to walking loads is to apply a series of nodal loads with assigned time delays at the nodes. But this method has a limit in representing the walking loads. In this study, the equivalent nodal loads are introduced for an effective analysis of floor vibration induced by walking loads. And, walking loads with difference walking rate are measured and applied to the analytical model for numerical analysis.

• 대한물리의학회지
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• 제15권2호
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• pp.101-108
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• 2020

PURPOSE: The purpose of this study was to investigate the effect of treadmill walking training using the metronome on the gait pattern. METHODS: A total of 33 healthy persons were studied consisting of 17 female and 16 male in the 20-30 age group. A gait analysis program was installed on a treadmill with a built - in gait analysis sensor and laptop. After 9 minutes of treadmill walking, gait analysis was performed for 1 minute. The mean values of the differences in the step length, angle of COP, separation line standard deviation and step force of the lower legs affecting walking symmetry were calculated for treadmill walking and treadmill walking using the metronome. The Shapiro-Wilk test was used to test the normality of the collected data and a paired t-test was performed to analyze the difference in walking before and after using the metronome. RESULTS: As a result of the analysis, the mean of difference between the measured values of the bilateral lower extremity for step length, angle of COP, separation line standard deviation and step force were statistically significant before and after treadmill walking using the metronome. CONCLUSION: Therefore, the treadmill walking training using the metronome is effective in decreasing the difference in the foot width, gait angle, gait distribution, and foot pressure. Because of this, the treadmill walking training using the metronome has a significant effect on walking symmetry among the elements for correct walking, which is a means for enabling efficient and continuous walking.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.752-759
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• 2002

This paper presented a design and a control of a biped walking RGO and walking simulation by this system. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO type with 12-servo motors. The vibration evaluation of the dynamic PLS on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. The gait of a biped walking RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by a ZMP (Zero Moment Point) of the biped walking RGO. It was designed according to a human wear type and was able to accomodate itself to a human environments. The joints of each leg were adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to recover effectively with a biped walking RGO.