• 전자공학회논문지
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• 제50권1호
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• pp.261-268
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• 2013

본 논문은 지능형 보행보조로봇이 횡단경사면주행에 있어 직진성 향상 알고리즘을 제안한다. 보행보조로봇은 횡단경사면주행시 로봇의 무게와 경사도에 의해 발생되어지는 회전모멘트의 영향을 받아 경로 이탈을 하게 된다. 이를 보정하기 위해 사용자가 입력하는 목표 회전각속도와 로봇의 회전각속도와의 비교를 통해 각 구동축에 가중치를 인가하는 알고리즘을 적용하였다. 제안한 보정 제어기를 실\제 보행보조로봇에 적용한 결과 횡단경사면 이동시 Yaw 축 이탈거리는 무보정 실험의 경우 발산하지만 Yaw 보정 알고리즘을 적용하였을 경우에는 이탈거리가 최대 20cm 이내로 안정적인 주행을 하는 것을 확인할 수 있었으며, 이탈거리 변화율 또한 300cm 이후 안정화되어 더 이상의 변화가 발생하지 않는 것을 확인할 수 있었다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.531-534
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• 2003

In this paper, the Intelligent Space (iSpace) concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacle avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the iSpace. A mobile robot with extended functions is introduced as a Mobile Assistant Robot which is assisted by the iSpace. The Mobile Assistant Robot (MAR) can guide and protect a blind person in a crowded environment with the help of the Intelligent Space. The prototype of the Mobile Assistant Robot and simulations of some basic types of obstacle avoidance method (walking habit) are presented.

• 한국농촌건축학회논문집
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• 제10권4호
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• pp.9-16
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• 2008

The purpose of this study is to compare and seize the type of the path of flow for nurses and living assistant, of the path of flow for evacuation and walking practice by analysis plan for the care facilities in the out-of-home service. It supposed many problem for living in the care facilities for the aged get down activity, especially their relates with difficulty in walking. And services of nurses and living assistant get mixed properties by that problem for the aged with difficulty in walking. It classified into T type, L type, H type, ${\Box}$ type, - type all the path of flow for nurses and living assistant on the longest from nursing station to each bedroom, the path of flow for evacuation from each room to exit, the path of flow for walking practice on the corridor and lobby. The three path of flow are influenced by an inner court, especially passable court is the important primary factor in the communication between the aged, a course and time required of flow.

• 대한물리의학회지
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• 제13권4호
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• pp.1-8
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• 2018

PURPOSE: This study was conducted to analyze the effects of carrying weight on the gait of elderly women using a walking-assistant vehicle (WAV) as the weight increased. METHODS: A total of 30 elderly women living in the local community were included as subjects and instructed to walk 50 m using a WAV loaded with sandbags corresponding to 0%, 5%, 10%, or 15% of their mean weight. The subjects' gait was analyzed using a gait analyzer to measure stride length, step length, step width, and gait time. RESULTS: Stride and step lengths were longest when carrying 5% of their weight and shortest when carrying 15% of their mean body weight. Step width and gait time were lowest when carrying weights corresponding to 5% and highest for 15% of their mean body weight. When observing gait with a WAV, the gait time was greatly affected by weights, with carrying weight equivalent to 5% of the body weight positively affected the gait with a WAV, whereas carrying weights of >15% resulted in slower gait speed. CONCLUSION: When walking with a WAV, an appropriate carrying weight of approximately 5% of the body weight stabilizes gait, while a weight of 15% leads decreased gait efficiency. Therefore, when using a WAV during outdoor activities, elderly women should add some weight to the WAV; however, the carrying weight should be <15% of the body weight.

• 한국정밀공학회지
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• 제21권2호
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• pp.7-13
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• 2004

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1473-1474
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• 2011

• 재활복지공학회논문지
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• 제4권1호
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• pp.23-28
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• 2010

심폐기능 허약자의 경우 다른 보행기능은 정상이지만 산소 공급에 문제가 발생된 경우로서, 에너지 소모를 최소한으로 줄여주는 보행보조 시스템이 필요하다. 심폐기능 허약자의 보행을 원활히 보조하기 위하여 본 연구에서는 고관절에 부착된 DC모터를 이용하여, 보행시 고관절 굴곡 및 신전을 제어하는 시스템을 고안하였다. 두 개의 모터를 좌우 고관절에 부착되어 정상 보행패턴을 기준으로 고관절의 굴곡과 신전의 설정각도를 정의하고 보행을 보조한다. 실험결과 보행보조에 의한 에너지 소모도 감소는 14.8%이었다.

• 대한의용생체공학회:의공학회지
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• 제31권2호
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• pp.162-169
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• 2010

This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1495-1499
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• 2003

There is some equipment that helps user to exercise and to walk. But almost all equipments require some physical strength of their muscles. So we developed a system that could assist walking action of the people with lower-limb disability. The system called as walking stand adopted the balancing mechanism which assures the stable walking, and the 4 link-based mechanism that had 2 degrees of freedom on each leg. The walking stand uses four motors and has two sets of the special link-structure to simulate the human walking mechanism. With our system, even serious disabled with lower-limb disability may enjoy walking rehabilitation. And by adjusting the power, it can be used as the walking assistant mechanism instead of conventional wheelchairs. Experiments showed that our walking stand is applicable to the rehabilitation and also to the mobile device in our daily life for those people who do not have enough physical ability to walk by themselves.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2007년도 추계학술대회
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• pp.545-549
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• 2007

시각 장애인의 보행 보조 장치는 보통 "흰 지팡이"라고 부르며, 이는 이동권 보장을 위한 최소한의 보조 장치이다. 본 논문에서는 시각 장애인에게 주변의 장애물 인식과 현재위치를 알려주어 보행에 도움을 줄 수 있는 장치의 설계 및 제작에 과하여 기술한다. 전체 시스템은 크게 두 부분으로 구성된다. 하는 주변의 장애물 인식을 위한 PSD 센서와 GPS 수신기, Bluetooth 모듈이 내장되어 있는 지팡이 부분이고, 다른 하나는 지팡이 부분에서 획득된 정보의 처리 및 장애인에게 여러 가지 정보 제공을 목적으로 하는 휴대장치이다. 이러한 장치를 통해 시각 장애인의 이동권 확보와 사회 활동권 등 복지 증진에 도움을 주고자 한다.