• 한국운동역학회지
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• 제20권4호
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• pp.381-386
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• 2010

This study examined the changes in the walking pattern during level walking under low illumination conditions. Fourteen male subjects ($22.1{\pm}2.21$ years, $174{\pm}3.74\;cm$, $68.86{\pm}10.81\;kg$) with normal vision and no disabilities were enrolled in this study. All experiments were performed on a level walkway with three conditions: normal walking (preferred & low speed) and walking with low illumination. 3D motion capturing system was used for acquisition and analysis of the walking motion data with a sampling frequency of 120Hz. The walking speed, normalized jerk(NJ) at the center of mass(COM), wrist and heel, knee and elbow joint angle, ratio of the knee joint angle to elbow joint angle and the toe clearance on stance phase were used to compare the differences in walking pattern between the two illumination conditions, The results showed that the walking speed and joint angles decreased in low illumination, whereas the NJ and toe minimum clearance increased. In low illumination, most variables were similar to effects of low speed walking, but toe clearance was different from the effects of low speed. These results can be used as primary data for examining the changes in the level walking pattern of young adults under low illumination. Further study will be needed to compare these results in young adults with those in the elderly.

• 전기학회논문지
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• 제67권7호
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• pp.903-909
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• 2018

We propose laser scanner sensor system based walking pattern and tracking method of multiple human. This system uses laser scanners sensors and is applicable to wide and crowded area such as hospital and medical care center. The primary objective of this research is to promote the development of robust, repeatable and transferable software for security system that can automatically detect, track and follow people in public area. We developed the method of human identification for this system. Our method is following: 1. Best-walking pattern data are obtained by the help of human position and direction data obtained by laser scanners. 2. Human identification is conducted by calculating the correlation between the step length of walking human. It becomes possible to conduct human identification even in crowded scenes by estimating the movements of waling human' feet are periodic. In the experiment in the station, some effectiveness of this method became clear.

• PNF and Movement
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• 제13권3호
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• pp.127-134
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• 2015

Purpose: The current study seeks to examine the effect of coordinative pattern exercises of the upper and lower extremities using harnesses and walking rails on the walking and balance abilities of chronic stroke patients, and to develop effective programs and training methods to improve the functions of such patients. Methods: Subjects included 16 patients with hemiplegia caused by stroke. The subjects were randomly divided into an experimental group (n=8), on which coordinative pattern exercises of the upper and lower extremities were conducted, and a comparison group (n=8) that received typical exercise therapy. The experimental group underwent 30 minutes of typical exercise therapy and 30 minutes of coordinative pattern exercises of the upper and lower extremities, while the comparison group underwent typical exercise therapy for 30 minutes twice a day, five days per week for a six-week period. To evaluate walking ability, 10-m walking tests (10MWT) and 6-m walking tests (6MWT) were conducted. To assess balance ability, timed up and go tests (TUG) were performed. Results: After the intervention, significant (p<0.05) differences were seen in the 10MWT, 6MWT, and TUG in both the experimental and comparison groups. As for the 10MWT, the experimental group showed more significant improvement than the comparison group (p<0.05). In terms of the 6MWT, no significant differences were found between the groups, while the experimental group showed more significant differences than the comparison group in the TUG (p<0.05). Conclusion: The results from the current research indicate that training programs that apply coordinative pattern exercises of the upper and lower extremities with harnesses are extremely effective for improving the walking and balance abilities of chronic stroke patients.

• 한국운동역학회지
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• 제20권1호
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• pp.33-39
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• 2010

The purpose of this study was to investigate the changes in walking pattern of the elderly during inclined walkway with uneven surfaces and level walking. 10 young($26.3{\pm}1.3$ years, $174.3{\pm}5.3\;cm$, $69.5{\pm}9.5\;kg$) and 13 elderly($72.4{\pm}5.2$ years, $164.5{\pm}5.4\;cm$, $66.1{\pm}9.6\;kg$) male subjects were participated in the experiment. Experiment consisted of 2 walking conditions: horizontal and inclined walkway with uneven surfaces. 3D motion capturing system were used to acquire and analyze walking motion data with sampling frequency of 120 Hz. To compare differences between conditions, kinematic variables(walking speed, stance-swing ratio, hip joint angle, knee joint angle, ankle joint angle, pelvic rotation angle) were used. Results showed that there were some changes of elderly walking pattern in inclined walkway with uneven surfaces: hip joint(adduction and rotation) and pelvic movement pattern. These changes by inclination and surface may affect gait pattern of young subjects as well as elderly subjects. However, in case of elderly it revealed more unstable gait than the young. Further study is necessary to clarify changes in walking pattern for elderly by considering various gait variables including head movement and various walkway conditions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.138-140
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• 2004

This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.882-887
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• 2008

In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

• Journal of Electrical Engineering and Technology
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• 제11권3호
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Journal of Electrical Engineering and Technology
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• 제11권5호
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• pp.1395-1403
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• 2016

• 한국ITS학회 논문지
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• 제19권6호
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• pp.88-95
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• 2020

본 논문에서는 고령 보행자의 안전한 보행을 위한 새로운 팔 스윙 보행 패턴 기반 보행안전 시스템을 제안한다. 제안한 시스템은 스마트 밴드, 스마트 워치 등 햅틱 기반의 디바이스를 활용한 고령 보행자용 보행 안전 시스템으로 기존의 하지 운동의 보행 패턴으로 보행자의 낙상 상황을 인지하기 어려운 문제점을 해결하기 위해 팔 스윙 기반의 보행 패턴을 활용한다. 팔 스윙 기반 보행 패턴은 디바이스의 가속도 센서를 이용한 팔의 스윙을 통해 걸음수 및 보행자의 낙상 상황을 인지하며 낙상 상황이 발생하는 위치를 데이터베이스화하여 고령 보행자에게 낙상 발생 예상 위치 근처를 보행할 시 경고 메시지를 전달하여 고령자에게 보행 안전을 제공한다. 이러한 시스템을 통해 고령자의 안전한 보행 권리 및 환경 개선할 수 있을 것으로 기대한다.