• Journal of the Korean Society for Precision Engineering
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• v.31 no.10
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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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• v.22 no.3
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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.

• Proceeding of EDISON Challenge
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• 2016.03a
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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.

• Journal of Korea Multimedia Society
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• v.19 no.8
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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.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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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.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.1-16
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• 2002

The purposes of this study were to investigate the effects of strength training on the change of ground reaction force for the children with trisomy 21 Down syndrome. The subjects of this study were consisted of eight elementary school students with Down syndrome who participated in the strength training. The strength training was administered by six items such as squat, leg curl, leg extension, toe raise, sit-ups, and hyperextension. For strengthening muscle, each group also was treated by walking for 8 weeks, three times a week, 10-15RM, 3sets, which was based on the principle of progressive overload. For inquiring the effect of strength training, the ground reaction force variables were measured in two phases : before-training and 8 week-after training. The gait of each subject was acquisition using 2 AMTI force platforms set at 100 frequency. The results of this study were as follows: The pattern of vertical, antero-posterior and medio-lateral forces, trajectory of net COP and the timing ratio of reaching the each events were shown variously. So, it is not easy to explain these variables clearly. As the result of strength training, these variables were changed. However, the results of within subjects differ greatly, there was no difference statistically.

• Korean journal of communication and information
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• v.70
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• pp.35-65
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• 2015

This paper is consisted of the thesis that the decontextualized limitation of media cultural studeis in Korea should be overcome by walking into and linking with today's urban crisis and everyday life. It proposes us to become the flaneurs who do not hesitate to go to, think of, and experience actively the city in crisis under the capital/state domination. It's conclusion would be that we must practice participation observation at the fields and thus recover the critical element of cultural studies writing, by entering into the city and seeing at the features of crisis routinely expressed and symptomatically appear in there. For and before this, the author will first of all pay attention to John Fiske in later period, who was merely perceived and falsely regarded as an active audience theorist. He will also review de Certeau from whom Fiske has borrowed the concept of tactics, and Berman who has further practiced the very spatial tactic. The paper is prepared so as to expand the ideas and thoughts of them who have gone beyond the boundary of text, audience and onto the context of urban space. It's goal is much more than rescuing, recovering Fiske's alternative trajectory. It tries to reconstruct the tradition of urban media cultural studies critically connected with the dangerous, life-threatening capitalist condition. Furthermore, by filling up the theoretical vacuum left behind disconnected and cut away from Fiske, it attempts to find a vision, prospect of cultural studies that will actively engage themselves dialectally with dangerous yet hopeful life of the city and its popular masses.