• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.83-91
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• 2000

During static walking of a quadruped walking robot, stability of the robot depends on whether the projection of the mass center is located within the supporting area that is varying with leg motion and formed by standing legs. In this paper, force margin instead of the mass center was used to determine stability and body-tilting method was used to enhance it. On-line control of body tilting was realized with simple reaction feedback based on force margin of the static walking model of the robot instead of complicated calculation. Model reference on-line control where the model searches stable pose for predefined force margin also gave good walking performance.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• KIEAE Journal
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• v.12 no.3
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• pp.69-75
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• 2012

Developing reliable measures of the environment is important to increase our understanding of the environmental effects on walking among seniors. As a preliminary study for developing an instrument for measuring walkability of seniors' environment, the purpose of this study are to identify important assessment indicators associated with seniors' walking and to test their reliability using inter-rater and intra-rater reliability methods. A set of assessment indicators was identified through literature review, and field studies by trained raters were conducted in three senior centers located in Seongnam area in order to test reliability of the audit tool. The results indicated high percent agreement for most indicators and overall 91.6% and 86.1% of items assessed had good or medium inter-rater and intra-rater reliability, respectively. The reliable assessment indicators would provide reliable data for use in community-based audits of built environment in relation to walking among older adults. The findings showed that the indicators of aesthetics had lower reliability compare to safety, convenience, and access. Rater training with various images would improve rater agreement while reduce rater bias.

• Journal of the Korean Association of Geographic Information Studies
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• v.15 no.2
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• pp.150-160
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• 2012

The purpose of this study is to examine the relationship between children's walking safety or risk of traffic accident and the physical environments around 20 public elementary schools in Changwon-si, Gyeongsangnam-do. Field surveys were conducted to assess the street-level objective and subjective walking environments. The GIS method was used for measuring the neighborhood-level land use patterns. Children's walking safety and risk of traffic accident data were collected from the 6,381 grade 5 to 6 students attending 18 elementary schools through the questionnaire survey. Correlation analysis showed that walking safety and risk of traffic accident of the elementary students were associated with the number of temporary or permanent obstacles on the sidewalk, traffic safety signs, driveway and street intersections, street lights, and percentage of detached housing area and road area on neighbourhood-level. This research will promote to help with constructing a safe routes to school and walking-friendly healthy community.

• Journal of Korean Academy of Nursing
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• v.26 no.2
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• pp.271-280
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• 1996

The purpose of this study was to determine the effect of periodic walking during hindlimb suspension on the mass, relative weight, fiber type distribution and cross-sectional area of Type I and II fibers in the developing Type II plantaris muscle. To examine the effectiveness of periodic walking on mass and fiber size, the hindlimbs of young female Wistar rats were suspended (HS group) and half of these rats walked on a treadmill for 45 min／day(15 min every 4 hours) at 5 meters／min at a 15 degree grade(HS-W group) After seven days of hindlimb suspension, the plantaris muscle wet weight was 28.40％ significantly smaller（P＜0.005） and relative plantaris muscle weight was 26.97％ smaller compared with those of control rats（P＜0.05）. The plantaris muscle wet weight and the relative plantaris muscle weight increased by 46.60％ and 49.23％ respectively with periodic walking, moreover. the plantaris muscle wet weight and the relative plantaris muscle weight of the HS-W rats recovered to the level of the control rats. No change was observed in fiber type percentage of the developing plantaris muscle following one week of hindlimb suspension or periodic walking during hindlimb suspension. Type I and II fiber cross-sectional areas of the developing plantaris muscle were 42.51％ and 43. 68％ lower in the HS group than in the control group（p＜0.0001）, Type I and II fiber cross-sectional areas of the developing plantaris were 30.82％ and 45.97％ greater in the HS-W group than in the HS group（p＜0.0001）, whereas Type I and II fiber cross-sectional area of HS-W group were less than those of the control group（P＜0.0001） The results suggest that periodic walking can attenuate developing plantaris muscle atrophy induced by hindlimb suspension.

• Journal of Korean Medicine Rehabilitation
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• v.26 no.3
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• pp.109-117
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• 2016

Objectives The purpose of this study was to investigate the correlation between walking ability of lumbar spinal stenosis patients and the cross-sectional area (CSA) of lumbar paraspinal muscles. Methods This study was carried out on 62 lumbar spinal stenosis patients who had limited walking abilities because of neurogenic claudication (NC). All patients received more than 2 weeks of complex treatment at Mokhuri Neck&Back Hospital. CSA of lumbar paraspinal muscles was measured from axial T2-weighted MRI and divided by CSA of adjacent vertebral body to avoid influence of body statues (RCSA-Relative CSA). Pain Free Walking Distance and Numerical Rating Scale (NRS) was measured before and after treatment. Results The Pain Free Walking Distance had significantly increased in patients who had bigger RCSA of psoas muscle (r=0.313, p<0.05). Conclusions The psoas muscle can be a predictive factor for restoring walking ability of lumbar spinal stenosis patients who have limitations walking.

• Korean Journal of Health Education and Promotion
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• v.28 no.4
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• pp.63-77
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• 2011

Objectives: This study identifies the meaning of walking and its facilitating factors and barriers from the perspective of urban walkers in Seoul. Methods: The participants consisted of twelve people who either lived or worked in Gangnam district of Seoul. The study applied the data collection process featured in the photovoice, in which the participants took photographs and shared their stories through focus group interviews. Results: Walking is regarded as one of the easiest types of physical activity. While walking, participants find mental tranquility, communication opportunities, and a chance to step back from their everyday lives. Facilitating factors include: access to walking-friendly venues and attractive surrounding environments; the participant's assimilation into the surrounding area; having the feeling of ease and relaxation; and friends and family to walk together. Barriers consist of physical factors such as street design and the busy urban streets, insensitive traffic and low civic awareness, and personal situational factors. Conclusions: The benefit of walking exceeds beyond those of physical health promotion. Actions to encourage walking in urban areas should address the multiple meanings perceived by their citizens.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.459-465
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• 2019

There is an increasing interest in health and research on methods for measuring human body information. The importance of continuously observing information such as the step change and the walking speed is increasing. At a person's gait, information about the disease and the currently weakened area can be known. In this paper, gait is measured using wearable walking module built in shoes. We want to make continuous measurement possible by simplifying gait measurement method. This module is designed to receive information of gyro sensor and acceleration sensor. The designed module is capable of WiFi communication and the collected walking information is stored in the server. The information stored in the server is corrected by integrating the acceleration sensor and the gyro sensor value. A band-pass filter was used to reduce the error. This data is categorized by the Gait Finder into walking and waiting states. When walking, each step is divided and stored separately for analysis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.8
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• pp.230-238
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• 2018

The purpose of this study is to examine the effects of park type and inner elements of parks on the number of walking days of walking out of Ulsan Metropolitan City, And to make policy suggestions for them. The elderly people aged 65 and 1,274 persons or over in Ulsan Metropolitan City were selected as the subjects using the raw data of the 2015 community health survey. A multilevel analysis was conducted using a hierarchical linear model to find out the factors affecting the number of days of walking according to the level of regional level factor according to the five wards of Ulsan Metropolitan City. The number of walking days increased with the number of sports facilities and the number of walking days decreased with the number of amusement facilities mainly used by children. In the case of Jung-gu in Ulsan, the number of walking days was low even though the number of parks and the area of the park were large, In the case of Buk-gu, the number of walking was high even though the number of parks and the area of the park were small. Elderly people in Jung - gu, Ulsan metropolitan city are expected to need a health promotion project to promote walking, and it is necessary for seniors in Buk - gu, Ulsan Metropolitan City to make a good walking environment.