• 한국정밀공학회지
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• 제31권10호
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• pp.913-922
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• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.

• The Journal of Korean Physical Therapy
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• 제22권3호
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• pp.49-53
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• 2010

Purpose: The purpose of this study was to investigate the plantar pressure distribution between the affected and unaffected side in adult hemiplegia during gait with the use of a quad-cane. Methods: Thirty-four stroke patients from 34 to 83 years of age were enrolled in this study, and in random order, all patients were asked to walk at their most comfortable speed three times along a walkway with the use of quad-cane over a period of three days. Plantar pressure distribution was measured with regard to foot contact pattern and center of pressure (CoP) trajectories during the stance phase, progressing from heel-strike to toe-off. The F-scan system was used to compare the foot pressure of the affected and unaffected sides. Results: A significant reduction in the total contact area, the width of fore foot (FF) and hind foot (HF), and anterior/posterior (AP) CoP trajectory of the affected side was found. However, contact pressure of the hind foot on the affected side during walking increased when compared to that on the unaffected side. Conclusion: We demonstrated that plantar pressure distribution on the affected side of adult hemiplegia patients was generally poorer than that on the unaffected side when these patients walked with cane assistance. However, the use of a quad-cane was shown to increase contact pressure of the hind foot on the affected side because weight can be borne on the affected side during heel-strike with use of the cane.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.397-403
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• 2016

Various walking robot platforms have been developed to carry out missions such as explorations, pass of obstacle or inspections of dangerous environments. In this work, a four legs mechanism based on Jansen mechanism is developed, which can follow a certain track and overcome obstacles. To find the ideal locus, computer programs are used such as M. sketch and Working model. Using these program tools, moderate linkage sizes are selected in Science Box. Furthermore, in order to optimize design of legs, a level average analysis is used as well as Edison S/W. Through the design optimization, improved stride of locus is found.

• 한국멀티미디어학회논문지
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• 제19권8호
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• pp.1587-1596
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• 2016

This paper presents an interactive locomotion controller using motion capture data and inverted pendulum model. Most of the data-driven character controller using motion capture data have two kinds of limitation. First, it needs many example motion capture data to generate realistic motion. Second, it is difficult to make natural-looking motion when characters navigate dynamic terrain. In this paper, we present a technique that uses dimension reduction technique to motion capture data together with the Gaussian process dynamical model (GPDM), and interpolates the low-dimensional data to make final motion. With the low-dimensional data, we can make realistic walking motion with few example motion capture data. In addition, we apply the inverted pendulum model (IPM) to calculate the root trajectory considering the real-time user input upon the dynamic terrain. Our method can be used in game, virtual training, and many real-time applications.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.1-9
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• 2016

In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.

• 한국운동역학회지
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• 제12권2호
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• pp.1-16
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• 2002

본 연구의 목적은 다운증후군 보행에 영향을 주는 근력 훈련이 성장기에 있는 다운증후군 아동의 지면반력의 변화에 미치는 효과를 살펴보는 것이다. 본 연구의 대상자는 삼염색체 다운증후군을 가진 남자 아동(11세~13세) 8명이며, 근력훈련 전에 지면반력 변인(수직력, 전후력, 좌우력, 총압력중심)을 측정하였으며 근력훈련 후에도 동일한 방법으로 지면반력 변인을 측정하였다. 지면반력 변인의 측정은 2대의 AMTI 지면반력기를 사용하였으며, 초당 100Hz로 데이터를 수집하여 분석하였다. 근력 훈련은 하지 근육 강화 훈련 4종목(스쿼트, 레그 컬, 레그 익스텐션, 토 레이즈)과 복근 및 척추기립근 강화 훈련 2종목(하이퍼 익스텐션, 윗몸 일으키기)으로 구성하여 8주간 주당 3회, 1회 운동 시 10~15RM${\times}$3세트로 점증부하 원리에 의거하여 실시하였다. 본 연구를 통한 결론은 다음과 같다. 근력 훈련 전후의 수직력, 전후력, 좌우력의 변화패턴은 다운증후군 아동별로 다양하게 나타났으며, 근력훈련으로 정상인과 비슷한 패턴으로 향상되었다. 또한, 훈련 전 후의 총압력중심의 이동궤적은 연구대상자별로 다양한 이동궤적이 나타나서 명확한 설명을 하기가 어려우며, 이에 대한 보다 종합적인 후속 연구가 필요할 것으로 사료된다. 본 연구를 통하여 다운증후군 아동들의 보행의 운동역학적 기전의 이해와 운동학적 결과의 해석을 돕고 향후 병적 보행의 평가에 대한 기초자료를 제시할 수 있을 것으로 사료된다.

• 한국언론정보학보
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• 제70권
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• pp.35-65
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• 2015

이 논문은 한국 미디어 문화연구가 채 극복하지 못한 탈문맥화 한계를 도시 일상 위기 현실로의 산책을 통해 극복하자는 테제를 중심으로 구성되어 있다. 논문은 자본국가의 지배 통치하 위험에 처한 삶의 문제를 적극 사유하고 체험하기 위해 문화연구자들이 당장 산책에 나설 것을 제안한다. 일종의 전황 파악과 산개 기술로서의 산책이다. 논문은 오늘날 대중문화가 처한 위기 양상들이 일상적으로 표출되고 징후적으로 표현되는 도시로 걸음을 옮겨 참여 관찰하고, 이를 글쓰기로 옮기는 현실 개입주의를 문화연구 재맥락화의 정답으로 결론 맺는다. 이에 앞서 연구자는 능동적 수용자 이론가로 분류 정리된 존 피스크의 말기 비판적 공간 산책에 주목한다. 그가 산책 개념을 빌려온 드 세르토로부터 나아가 공간 전술을 실제로 실천한 마셜 버먼의 작업을 돌아본다. 텍스트와 수용자의 울타리를 초월해 도시 공간의 콘텍스트로 나아간 문화연구의 궤적을 그려 보는 것인 바, 이는 단순히 피스크가 남긴 대안적 흔적을 복구하는 차원을 넘어선다. 자본주의 현실과 비판적으로 관여하는 도시 공간 미디어 문화연구의 흐름을 재구성하기 위함이다. 피스크에게서 제대로 이어지지 않고 절단된 사유와 방법론의 공백을 채움으로써, 도시와 대중들의 위기 현실에 능동적으로 개입하는 문화연구 재문맥화의 전망을 찾아볼 것이다.