• 한국운동역학회지
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• 제26권4호
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• pp.413-420
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• 2016

Objective: The purpose of this study was to analyze and compare different kinds of outdoor walking shoes in terms of muscle fatigue and ground reaction force on walking, and to provide foundational data for developing and choosing outdoor walking shoes that fit the users. Method: The study subjects were 30 healthy men. The experiment was conducted by using outdoor walking shoes with different inner and outer harnesses of the midsole, and shapes of the outsole. For data collection, electromyography was used to measure the muscle fatigue of the anterior tibial muscle and gastrocnemii, which contribute to the dorsiflexion and plantarflexion of the ankle joint, and the biceps muscle of the thigh and lateral great muscles, which contribute to the flexion and extension of the knee joint. A GRF measurement device was used to measure the X, Y, and Z axes. Results: In the type A outdoor walking shoes, regarding the hardness of the midsole, the inner part was soft, while the outer part was hard. The vertical ground reaction force was the lowest, which means least impact while walking and light load to the knees and ankles. The type C outdoor walking shoes were intended to provide a good feel in wearing the shoes. The tibialis anterior, biceps femoris, and gastrocnemii indicate low fatigue, which means that during a long-distance walk, it will minimize the fatigue in the muscles of the lower limbs. Conclusion: To sum up the study results, the different types of outdoor walking shoes indicate their unique characteristics in the biomechanical comparison and analysis. However, the difference was not statistically significant. Thus, a systematic and constant follow-up research should be conducted to cope with expanding market for outdoor walking shoes. Lastly, this study is expected to present foundational data and directions for developing outdoor walking shoes.

• 한국정밀공학회지
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• 제28권1호
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• pp.56-62
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• 2011

Terrain recognition ability is crucial to the performance of legged robots in an outdoor environment. For instance, a robot will not easily walk and it will tumble or deviate from its path if there is no information on whether the walking surface is flat, rugged, tough, and slippery. In this study, the ground surface recognition ability of robots is discussed, and to enable walking robots to recognize the surface state and changes, a central moment method was used. The values of the sensor signals (load cell) of robots while walking were detected in the supported section and were analyzed according to signal variance, skewness, and kurtosis. Based on the results of such analysis, the surface state was detected and classified.

• 대한물리의학회지
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• 제2권1호
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• pp.31-39
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• 2007

Purpose : The main purpose of this study was to investigate the influence of lower extremity strengthening on balance ability of knee osteoarthritis. Methods : The walking exercise group with modality treatment and strengthening exercise group with modality treatment. The walking exercise and strengthening for 40 minutes per day and three times a week during 6 weeks period. Short Form McGill Pain Questionnaire(SFMPQ) was used to measure patient's pain level. Patient Specific Functional Scale(PSFS) was used to measure patient's functional disability level. BPM was used to measure sway area. Global Perceived Effect Scale(GPES) was used to measure recovery or worse of patient's condition. Results : 1. SFMPQ was strengthening exercise group showed significantly decreased more than walking exercise group(p<.05). 2. PSFS was strengthening exercise group showed significantly increased more than walking exercise group(p<.05). 3. Sway area was strengthening exercise group showed significantly limited area more than walking exercise group(p<.05). 4. GPES was strengthening exercise group showed significantly increased more than walking exercise group(p<.05). Conclusion : This study will be used as exercise method of patient with osteoarhtritis.

• 센서학회지
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• 제16권4호
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• pp.286-293
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• 2007

For safe walking of the people who are blind, walking assistance robot which can detecting and avoiding the obstacle was investigated. The implemented prototype walking assistance robot consists of a obstacle detecting module, a user interface using acoustic signal and a driving module. The obstacle detecting module uses 6 ultrasonic sensors those located at the front part of the robot can perceive the obstacle which is in 3 meter distances and $180^{\circ}$ degrees. It calculates the distance and degree from the obstacle using TOF (time of flight) method and decides the 3-dimensional location of the obstacle. The obstacle information is delivered to the user using acoustic alarm and guide sound. The robot is designed to avoid by itself when the obstacle is detecting and the user only follows it to safe walking. After the designed robot was implemented, driving and obstacle detecting experiments were carried out. The result showed that the designed walking assistance robot will help the people who are blind to walk around safe.

• 한국소음진동공학회논문집
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• 제13권1호
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• pp.10-18
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• 2003

This paper presented a design and control of a biped walking RGO(robotic gait orthosis) and its simulation. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO system will be made of 12-servo motors and 12-controllers. The vibration evaluation of the dynamic PLS(posterior leaf splint) on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 Hz. The galt of the biped walking RGO depends on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the biped walking RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The Joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties. we made the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS.

• 대한의용생체공학회:의공학회지
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• 제26권3호
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• pp.145-150
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• 2005

A new gait detection system using both FSR (force sensing resistor) sensors and a gyrosensor was developed to detect various gait patterns. FSR sensors were put in self-designed shoe insoles and a gyrosensor was attached to the heel of a shoe. An algorithm was also developed to determine eight different gait transitions during four gait phases: heel-strike, foot-flat, heel-off and swing. The developed system was evaluated from nine heathy mans and twelve hemiplegic patients. Healthy volunteers were asked to walk in various gait patterns: level walking, fore-foot walking and stair walking. Only the level walking was performed in hemiplegic patients. The gait detection system was compared with a optical motion analysis system and the outputs of the FSR sensors. In healthy subjects, the developed system detected successfully more than $99\%$ for both level walking and fore-foot walking. For stair walking, the successful detection rate of the system was above$97\%$. In hemiplegic patients, the developed system detected approximately 98% of gait transitions. The developed gait phase detection system will be helpful not only to determine pathological gait phases but also to apply prosthetics, orthotics and functional electrical stimulation for patients with various gait disorders.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• 대한건축학회논문집:계획계
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• 제35권7호
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• pp.119-126
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• 2019

The active living of the elderly leads to improve their lives and enhance social networks. In the view of the active living, the walkability is an essential factor for the elderly's daily life. To support the active living, making age-friendly environment is important. Considering that the elderly mainly carry out activities through walking, making the age-friendly walking environment is a preliminary action. The existing studies applied various methods such as surveys by experts. In spite of the benefits in theirs, there is still a limitation that current walkability measurement methods did not incorporate the actual elderly's walking activity. Thus, the purposes of this study is to measure the elderly's walking quantitatively using a wearable sensor, and to investigate the feasibility of comparing several walking environments based on the data collected from the actual elderly's walking. To do this, experiment was conducted in four types environments with 22 senior subjects. The walkability was measured by walking stability represented quantitatively as Maximum Lyapunov Exponent (MaxLE). Through the experiment results, it was confirmed that the stability of the elderly walking was different according to the walking environment, which also meant that bodily responses (walking stability) is highly related to walkability. The results will provide an opportunity for the continuous diagnosis of walking environments, thereby enhancing the active living of the elderly.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.1102-1109
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• 1993

This paper describes the research and development of Walking Tractors and Tillage Implements for Phase I (1991-1992) . The project consists of : (1) the study and need for the development of the walking tractors for Thailand and other Southeast Asian countries ; (2) the comparison in the use of the walking tractors and their transmission systems that are made in Thailand and aborad : and (3) the design of future walking tractors for Asian farmers in developing countries. The design of the walking tractors is concentrated to provide the ease to farmers, especially the elderly and female which will play an important role in the future agriculture of Thailand due to the lack of manpower. In addition , the design of the walking tractors is also aiming for small-scale farmers, the majority that have limited land capital. The walking tractors consist of several components but the most important one is the " Transmission System" . Thus, the research is concentrated in the devel pment an design of the a new transmission system. The new machine , currently developed, is named after the Chulalongkron University as " Chular Walking Tractor " , model SPJS -60. The tractor uses a 6-7 horsepower diesel engine with three forward gears and one reverse gear. The tractor also uses the latest gearing technology so called planetary gearing system with steering clutches system that never been used in any earlier model. The advantages of the planetary gearing system are : (1) the final drive gear can be small, and can be designed to provide higher strength with less wearing resistance, (2) the system eliminates a shaft which is used in other systems, thus reduces the weight and the manufacturing cost . Furthermore, the Chular Walking Tractor has an additional power take off shaft that can be used or linked with other standard agricultural implements.

• 대한정형도수물리치료학회지
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• 제13권1호
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• pp.36-43
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• 2007

Purpose: An objective analysis and observations were to be done on hemiplegia patients that are wearing a walking support device, Stroke shoes. Their improvements in walking pace, the reduction of distance between the two knee joint, the increase of curve angle of the knee joint and their steps and the reduction of ankle joint upon swing phase were analyzed using a 20 walking analyzer. Methods: An examination was carried out to see the patients' communication skill and independent walking and then let them walk with the Stroke shoes on to get results before and after wearing it. Simi Reality Motion Systems GmbH (Germany, 2007) was used to analyze the results regarding knee joint and ankle joint angle changes of sagitta plane and coronal plane, stepping distances, distances between the knees and walking pace. Results: 1. The articulation angle of ankle joint during swing phase decreased and knee joint has shown a statistically significant increase in such value(p<0.05). 2. Only knee joint showed a significant increase in articulation angle during heel strike(p<0.05). 3. Knee joint showed a significant increase in articulation angle during toe off(p<0.05). 4. The distance between the two knees as well as their foot steps significantly decreased compared with when Stroke shoes were not worn(p<0.05). 5. Stroke shoes with FES have shown positive effects on the patients in improving their walking styles overall. (p<0.05). Conclusion: There was an improvement in rotation walking pattern by a reduction in the distance between the knees after wearing Stroke shoes with FES. Plantar flexion reduced that occurred in ankle joint during walking and flexion angle increased in knee joint, both of which improved foot drop which was a major problem in hemiplegia patients. Also it is believed that the device will have some positive influences on knee joint stiffening paralysis to aid in improving inefficient walking phases.