• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.465-472
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• 2009

This paper proposes a multimodal information transformation system that converts the image information to the voice information to provide the sight impaired people with walking area and obstacles, which are extracted by an acquired image from a single CCD camera. Using a chain-code line detection algorithm, the walking area is found from the vanishing point and boundary of a sidewalk on the edge image. And obstacles are detected by Gabor filter of extracting vertical lines on the walking area. The proposed system expresses the voice information of pre-defined sentences, consisting of template words which mean walking area and obstacles. The multi-modal information transformation system serves the useful voice information to the sight impaired that intend to reach their destination. The experiments of the proposed algorithm has been implemented on the indoor and outdoor environments, and verified its superiority to exactly provide walking parameters sentences.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.118-126
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• 2005

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.

• Journal of International Academy of Physical Therapy Research
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• v.9 no.3
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• pp.1537-1542
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• 2018

This study aimed to identify the effects of kinesio taping (KT) applied in a proprioceptive neuromuscular facilitation (PNF) pattern on the pain, weight-bearing distribution (WBD), and walking ability of knee osteoarthritis (KOA) patients. Thirty women with KOA were randomly allocated to a control group (n=15) with KT at the quadriceps only, and a PNF pattern group (n=15) with KT at the quadriceps and gastrocnemius muscle. Pain intensity was measured using a visual analogue scale during walking. In addition, WBD, and walking ability were measured before and 30 minutes after KT application. The VAS significantly reduced in both groups after the intervention (p<.05). WBD (p<.05, ES=.32) and walking ability (p<.05, ES=.38) showed a significant change in the PNF pattern group, and in the inter-group comparison, the PNF pattern group showed a significant difference compared to the control groups. These results demonstrate that KT application with PNF pattern effectively attenuate the pain and improves WBD and walking ability in KOA patients.

• Journal of the Korean Society of Physical Medicine
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• v.7 no.1
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• pp.125-135
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• 2012

Purpose : This study is designed to demonstrate the effects of circuit obstacle group gait training on walking ability and emotion in stroke patients. Methods : Twenty one patients with stroke were participated in this study. The subjects were divided into control group(n=10) and experimental group(n=11). Circuit obstacle group gait training consisted of walking around obstacles, walking over obstacles, walking up and down slopes and walking up and down stairs. Circuit obstacle group gait training was conducted five times per week, 1 hour per session, for 6 consecutive weeks. At pre-test and post-test, subjects were tested with 10 m walking test, timed up and go test, up and down 4 stairs test, depression and self esteem. Results : After 6 weeks of research, the experimental group showed statistically significant difference in all items when comparing prior to training and after training (p<.05), but the control group showed statistically significant difference in items other than depression and self esteem(p<.05). In the comparison between the two groups, the experimental group showed higher improvement than the control group in the 10 m walking test, timed up and go test, and up and down 4 stairs test, and there was statistically significant difference in decrease of degree in depression between the experimental group and control group(p<.05). Conclusion : This study have shown that circuit obstacle group gait training improves walking ability and emotion in stroke patients.

• Journal of International Academy of Physical Therapy Research
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• v.5 no.1
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• pp.675-682
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• 2014

The objective of this study was to examine the effects of auditory biofeedback training and kicking training on walking times in patients with hemiplegia to determine if the effects of such training would be maintained even after stopping the intervention. Thirty hemiplegia patients were selected and randomly assigned to a control group of 10 patients to receive general exercise treatment; an auditory biofeedback training group of 10 patients to receive auditory biofeedback training, along with general exercise; and a kicking training group to receive kicking training, along with general exercise. All the patients received their respective training 12 times in total, three times per week for four weeks. In addition, all those in the control and experimental groups received the same general exercise treatment 12 times in total, three times per week for four weeks, and underwent follow-up tests thereafter. The patients' 10m walking times were measured using a stopwatch. The significance was analyzed using repeated-ANOVAs. In cases where there were interactions between measuring times and groups, in each group were examined using repeated-ANOVAs. In cases where there were differences, post-hoc tests were conducted using repeated of contrast test. The 10m walking times of the control and experimental groups were significant differences in 10m walking times were shown between measurement times(p<.05), and significant differences in the interactions between measuring times and groups were shown between the groups(p <.05). However, no significant differences in 10m walking times were shown between the groups(p>.05). The auditory biofeedback training group showed significant decreases in walking times four weeks after the beginning of the intervention(p<.05) and significant increases eight weeks after the beginning of the intervention(p<.05). The kicking training group showed significant decreases in walking time four weeks after the beginning of the intervention(p<.05) and maintained the walking times without showing any significant differences eight weeks after the beginning of the intervention(p>.05). The walking speeds of only the kicking training group were maintained until eight weeks after the beginning of the intervention.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1440-1443
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• 2004

Most previous robots had used the wheels as means for movement. These structures were relatively simple and easy to control and this is why the method had been used until currently. However, there are many realistic problems to move from one place to another in human life, for instance, steps and edges. So we need to develop the two-legged walking humanoid robot. The 2-legged walking Robot system has been vigorously developed in so many corporations and academic circles of several countries. However, 2-legged walking Robot has been mostly studied in view of the static walk. We design a stable humanoid Robot which can walk in high-speed through the research of the dynamic walk in this paper. Especially, worldwide companies have been interested in developing humanoid robots for a long time to solve the before mentioned problems so that they can become more familiar with the human form. The most important thing, for the novel two-legged walk, is to create a stable and fast walking in two-legged robots. For realization of this movement, an optimal mechanical design of 12 DOFS, a distributed control and a parallel processing control are implemented in this paper. This paper proves that high speed and stable walking can be achieved, through experiments.

• Research in Community and Public Health Nursing
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• v.30 no.3
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• pp.257-270
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• 2019

Purpose: This study is designed as a non-equivalent, control group pre/post-test for identifying effectiveness of a workplace walking program using a fitness tracker including individual counseling and tailored text messaging. Methods: Seventy-nine employees from two large companies were allocated into an intervention group (n=39) and a control group (n=40). Participants were asked to wear a fitness tracker (Fitbit Charger HR) during 24-hour, 5-days per week, for 10 weeks. The intervention group was provided with daily walking steps measured by Fitbit, weekly counseling with a specifically designed workbook, and seven weekly text messaging, and the control group with the fitness tracker only. Results: At the week 10 measurement, there were significant differences between the intervention and control groups in physical activity self-efficacy (p<.001), physical activity behavior (p<.001), daily walking steps (p<.001), systolic blood pressure (p=.033), and wellness (p<.001). Conclusion: These results suggest that the workplace walking program using a fitness tracker including individual counseling and tailored text messaging is more effective for persons with 10,000 steps/day. Therefore, it is recommended to actively apply this workplace walking program to inactive employees for encouraging regular physical activities and improving their wellness.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.536-539
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• 1997

This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.