• PNF and Movement
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• 제16권1호
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• pp.93-103
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• 2018

Purpose: The aim of this study was to investigate the effect of goal-oriented side walking training on balance and gait in chronic stroke patients. Methods: This study involved 18 chronic stroke patients who were divided into an experimental group (n=9) and a control group (n=9). The experimental group performed goal-oriented side walking training, and the control group performed general side walking training. The walking variables assessed were walking speed, stride length, and 10-m walking time. The balance variables assessed were foot pressure, timed up and go test (TUG), and Berg balance scale (BBS). These variables were measured before and after the exercise. Wilcoxon's signed-rank test was used to compare the participants' performances before and after the intervention in both groups. The Mann-Whitney U test was conducted for between-group comparisons after the intervention. Statistical significance was set at ${\alpha}=0.05$ Results: Walking speed, stride length, 10-m walking time, TUG, and foot pressure were significantly improved in both groups after the exercise (p<0.05). The between-group comparison showed a significant improvement in the goal-oriented side walking group (p<0.05). However, there were no significant between-group differences in 10-m walking times (p>0.05) and BBS (p=0.05). Conclusion: The results revealed that goal-oriented side walking training was effective in improving the balancing and walking ability of chronic stroke patients.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.963-968
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• 2010

This paper handles ZMP based control that is inspired by neural networks for humanoid robot walking on varying sloped surfaces. Humanoid robots are currently one of the most exciting research topics in the field of robotics, and maintaining stability while they are standing, walking or moving is a key concern. To ensure a steady and smooth walking gait of such robots, a feedforward type of neural network architecture, trained by the back propagation algorithm is employed. The inputs and outputs of the neural network architecture are the ZMPx and ZMPy errors of the robot, and the x, y positions of the robot, respectively. The neural network developed allows the controller to generate the desired balance of the robot positions, resulting in a steady gait for the robot as it moves around on a flat floor, and when it is descending slope. In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real time situations, and fed into a neural network inspired controller designed for stable bipedal walking.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.197-202
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• 2003

This paper describes realtime walking based on sensory information. In this study, a biped robot having a trunk is considered. The motion of the trunk balances the whole body of the biped robot while the legs locomotes on the ground. How to calculate the motion of the trunk is proposed using the ZMP concept. Also, an online walking pattern is discussed which is generated in realtime on the basis of walking parameters selected by visual and auditory sensors. In order to realize biped walking, we have constructed a forty-three degrees of freedom biped robot, WABIAN-RV (WAseda BIped humANoid robot-Revised V). Its height is 1.89[m] and its total weight is 131.4[kg]. Various walking experiments using WABIAN-RV are conducted on the plane, and the validity of its mechanism and control is verified.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.138-140
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• 2004

This paper mainly deals with the dynamic walking of a biped robot. At first, in order to walk in various environments, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. A method to plan a walking pattern consisting of a foot trajectory and a hip trajectory is presented. The effectiveness of the proposed method is illustrated by simulation results. Secondly, the paper brings forward a balance control technique based on off-line walking pattern with real-time modification. At last, the concept of Zero Moment Point (ZMP) is used to evaluate dynamic stability.

• 대한통합의학회지
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• 제8권3호
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• pp.143-151
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• 2020

Purpose: This study aimed to investigate the effect of single-leg stance training according to different support surfaces on walking speed and balance in patients with chronic hemiplegia. Methods: Twenty-two patients with chronic stroke were randomly categorized into an experimental group (11 patients) and a control group (11 patients). In the experimental group, single-leg stance training was performed on an unstable surface after 50 min of general physical therapy. In the control group, single-leg stance training was performed on a stable surface after 50 min of general physical therapy. All participants performed five sets of single-leg stance exercises per minute and rested for 3 min. The intervention was performed 5 times a week for 4 weeks, and each patient was evaluated using the Berg Balance Scale (BBS), Fugl-Meyer Assessment Scale (FMA), and difference in walking speed between the first and last day of the intervention. Results: Compared to baseline measurements, both study groups showed significant increases in FMA, BBS, and walking speed (p<.05) after the intervention. However, there was no statistically significant difference (p>.05) between the experimental and control groups. However, in the experimental group, the increases in FMA, BBS, and walking speed were 3.36 %, 9.50 %, and 7.71 %, respectively. In the control group, the increases in FMA, BBS, and walking speed were 2.39 %, 6.65 %, and 7.64 %. Conclusion: Single-leg stance training on different support surfaces could help improve walking ability and balance in patients with chronic hemiplegia.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.75-78
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• 1987

This paper presents a control algorithm of servo controller for a quadruped walking robot as well as its characteristics and requirements. The control algorithm for propelling and terrain adaptive motion is described. The servo controller is being developed as a sub-project of the national project - "Development of a quadruped walking robot ". And then, this paper focuses on an overview of the current state and future works of this sub-project.b-project.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.249-251
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• 2005

For walking patterns of biped robots, knee-bent patterns are used in most cases. However, humans are mostly walking with their knees nearly stretched. In this paper, a human-like walking algorithm using hybrid system is proposed for biped robots, The hybrid system consists of the logically constituted discrete system, in which the discrete states are defined by considering the walking characteristics, and the continuous state system used for motor control. It is shown that the proposed algorithm is effective by experimental studies.