• 한국운동역학회지
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• 제18권1호
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• pp.169-178
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• 2008

본 연구는 계단 보행 중 연속적인 두 스텝의 3차원적 지면반력 파라미터를 제공하고, 계단의 너비에 따른 지면 반력 파라미터의 차이 및 비대칭성과 일관성을 규명하는데 있다. 10명의 성인 대상자가 본 실험에 참여하였으며, 각 10번의 평지, 상향 및 하향보행을 3가지의 다른 너비의 계단에서 실시하였다. 본 연구를 수행한 결과 다음과 같은 결론을 얻었다. 첫째, 계단의 너비는 대부분의 지면반력 파라미터들의 패턴이나 일관성, 비대칭지수에 영향을 미치지 않았다. 둘째, 평지 보행과 계단보행은 지면반력 파라미터의 패턴에서 큰 차이를 보였다. 평지보행과 상향보행은 Fz1, Fz2, 그리고 Fz3로 구성되는 "M" 형태를 보인 반면에 하향보행에서는 Fz2가 거의 없고 큰 Fz1과 작은 Fz3로 구성된 패턴을 보였다. 또한 계단 보행은 평지보행과 매우 다른 전 후 지면반력 패턴을 보였다. 즉 상향보행은 Fy1이 존재하지 않는 패턴을, 하향보행은 Fy2가 존재하나 매우 작은 크기를 보였다. 셋째, 계단보행의 수직 지면반력 파라미터들은 적용가능한 일관성 지수 및 비대칭 지수를 나타내었다.

• 한국운동역학회지
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• 제15권2호
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• pp.93-102
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• 2005

The purpose of this study was to examine the effect of step length on the joint moment. The subjects were 4 undergraduate and graduate students in their 20s with normal legs. The subjects were individually tested by the running timer at the walking speed of 0.67m/s, 134m/s, and 2.46m/s. The step length was regulated to -10% of normal, normal and +10% of normal step length using foot print. The walking performances of each subjects were filmed using a high speed video camera. The raw data were analyzed by LabVIEW Graphical Program and these data were analyzed by ANOVAs and Scheffe. The results of this study were as follows: The maximum dorsiflexion moment of the ankle joint increased as the step length increased only at the fast walking speed. Although there wasn't significant difference shown in the plantar flexion moment, regular pattern in the plantar flexion moment which increased as the step length increased was found. The first maximum extension moment of the knee joint increased only at the normal walking speed, but there appeared no significant difference in the maximum flexion and second extension moment. The maximum extension moment of the hip joint increased at the normal and fast walking speed. Although there wasn't significant difference, regular pattern in flexion moment which increased as the step length increased was found.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1046-1050
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• 2003

In general, conventional user identification systems require users to carry a TAG or badge or to remember ID and password. Though biometric identification systems may relieve these problems, they are susceptible to environmental noise to some degree. We propose a natural user identification system, ubiFloor, exploiting user's walking pattern to identify the user. The system identifies a user, while tracking the user's location, with a set of simple ON/OFF switch sensors or equipments. Experimental results show that the proposed system can recognize the registered users at the rate of 92%. Future improvement in recognition rate may be achieved by combining other sensors such as camera, microphone, etc.

• 전기학회논문지
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• 제63권5호
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3092-3094
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• 1999

This paper deals with the gait generation of Biped Walking Robot (IWR-III) to have a continuous walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. The trunk moves continuously for all walking time and moves toward Z-axis. Balancing motion is acquired by FDM(Finite Difference Method) during the walking. By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis and system stability is confirmed. Walking motion is visualized by 3D-Graphic simulator. As a result, the motion of balancing joints can be reduced by the trunk ahead effect during kick action, and impactless smooth walking is implemented by the experiment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.1009-1010
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• 2010

• The Journal of Korean Physical Therapy
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• 제11권1호
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• pp.95-102
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• 1999

In hemiplegic gait, walking speed is an important factor to evaluate treatment effect. The purpose of this study was to describe and compare kinematic variables during differant speed hemiplegic gaits. Six hemiplegic patients(47-69 years old) after stroke and age - matched six volunteers in good health(51-61 years old) were studied. The patients were sorted into two groups, depending on their self - speed of walking : fast speed group(3 patients, $0.74\pm0.14m/s$) and slow speed group(3 patients, $0.29\pm0.09m/s)$. The results were following. 1. In the hip joint, the fast group had lower mean value than normal but had similar pattern to normal. The slow group had continuous flexed pattern. 2. In the knee joint, the fast group had similar mean value and pattern to normal. The slow group had continuous flexed pattern. 3. In the ankle joint, the two group had dorsiflexed pattern. The fast group had similar pattern to normal. Thus, the fast group was similar gait pattern to normal.

• 대한정형도수물리치료학회지
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• 제27권1호
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• pp.63-73
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• 2021

Background: This study was conducted to investigate the effects of pressure belt during proprioceptive neuromuscular facilitation sprinter pattern training using a Thera-band on leg muscle strength and gait in stroke patients with stroke. Methods: Nine patients with stroke underwent training five times a week for four weeks, and changes in the muscle strength and walking ability of the paralyzed leg before and after training were measured. Muscle strength was measured using a Digital muscle tester, and walking ability was measured using a G-WAKER and the timed up and go (TUG) test. Results: Results showed that the quadriceps, hamstring, tibialis anterior, gastrocnemius, cadence, stride length, and stance phase significantly increased (p<.05). The swing phase, gait cycle duration, and TUG test results significantly decreased (p<.05). Conclusion: This study demonstrated that a pressure belt is a very useful tool for improving muscle strength and walking ability in patients with stroke.

• 전기학회논문지
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• 제64권8호
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1137-1142
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• 2004

Walking training is one of the most important rehabilitation processes with paralysis patient. Walking training by using an orthosis can help advancing a patient's independent level. However, existing orthoses have some serious demerit of mechanical problem that the knee joint is locked in the state where it is completely extended, which increases energy consumption and fatigue. For this reason, it is suggested, for more practical orthosis, that the knee joint should be placed and it should have capability of suspending patient's weight. In this paper, 1-DOF walking orthosis which compensates the demerit of the existing orthosis and secures patient's mobility has been proposed. New orthosis has been designed under the following two premises. First, the knee joint of the orthosis was designed fold in order for the orthosis to move in a walking pattern similar to that of a normal person. Second, the knee joint was designed to extend during the swing phase and lock safely during the stance phase.