• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.347.2-347
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• 2002

This paper presented a design and a Vibration control of a biped walking RGO(Robotic Gait Orthosis) and walking simulation by this system. The vibration evaluation of the Knee Joint Mechanism on the biped walking RGO(Robotic Galt Orthosis) was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking RGO. (omitted)

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.157-167
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• 1998

In this paper it is purpose that reduces joint torques and their rate of change through optimizing trajectory planning of biped walking machine. The motion of biped walking machine is divided into leg motion for walking and body motion for keeping balance. The leg motion is planned by three phases, that are deploy, swing, and place phases, in terms of the state of foot against floor. The distribution of time assigned to each phase is optimized and that causes leg joint torques and their rate of change to minimize. The body notion is produced by using optimal control theory which minimizes body joint torques and satisfies Z.M.P. constraints defined as region of each phase.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.11
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• pp.886-896
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• 1991

In this paper a new turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. At first the feasible leg sequences which can guarantee a positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequince and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be appled to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.139-147
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• 2009

When the visually impaired walks inside a building like corridor, a GPS cannot be useful for the walker in estimating his or her position unlike the case of outdoor space. This paper presents two novel methods to measure the walking distance using a low cost camera worn on the chest of the visually impaired. In the first method we analyze the periodic variation of image focusing values. Walking steps are counted by checking the period for the rough measure of the walking distance. The second method counts the step number by monitoring fixtures on the ceiling, which have a certain interval. Lamps on the ceiling appeared on the video are monitored in this paper. The T-S fuzzy theory is used to detect lamps, and the walking steps are estimated by the positional variation of the lamp due to the gait of the walker. The two methods are tested in real experiment, and the results are compared.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.459-465
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• 2019

There is an increasing interest in health and research on methods for measuring human body information. The importance of continuously observing information such as the step change and the walking speed is increasing. At a person's gait, information about the disease and the currently weakened area can be known. In this paper, gait is measured using wearable walking module built in shoes. We want to make continuous measurement possible by simplifying gait measurement method. This module is designed to receive information of gyro sensor and acceleration sensor. The designed module is capable of WiFi communication and the collected walking information is stored in the server. The information stored in the server is corrected by integrating the acceleration sensor and the gyro sensor value. A band-pass filter was used to reduce the error. This data is categorized by the Gait Finder into walking and waiting states. When walking, each step is divided and stored separately for analysis.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.551-558
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• 2008

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

• The Journal of Korean Physical Therapy
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• v.34 no.4
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• pp.181-186
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• 2022

Purpose: This study was to applied to stretching plantar flexor and invertor at the same time to observe the effect of balance and walking ability. Methods: Subjects were instructed patients with ankle limited of motion, 6 months after stroke. We classified 20 subjects into two groups (experimental group: stretching plantar flexor and invertor at the same time, control group: only stretching plantar flexor). each group included 10 subjects and applied ankle stretcher for 20 minutes, 5 times/week during 4 weeks (total 20 times). Results: Both experimental group and control group showed significant increases in static balance, however, the significantly increases in step length and gait speed was observed only in the experimental group. There was no significant increases in step length and gait speed in the control group. Conclusion: Simultaneous stretching of ankle invertor and plantar flexion is effective in improving balance and walking ability in chronic stroke patients.