• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.10
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• pp.89-94
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• 2012

This research is to apply the control of neuron networks for the real-time walking control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of walking control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. This paper proposes a new mode to implement a neural network controller by installing a real object for controlling and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The proposed control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.103-108
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• 1988

A walking robot must have the ability to change the body direction in order to avoid the obstacles. In this paper, we develop a gait control algorithm that can maintain the stable movement of the robot for three different modes of changing directions. The algorithm makes it possible for the robot to have the larger gait stability margin than the threshold value by the method of changing the body speed.

• Journal of Industrial Technology
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• v.11
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• pp.65-72
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• 1991

In this paper, a control algorithm is discussed when the quadruped walking robot walks over the unknown soft ground. Firstly, it estimated the relationship between the foot force and the ground sinkage at the leg-placing phase. Secondly, the generated soil property is applied to the leg-supporting phase. If the attitude angle is changed by incorrect ground sinkage compensation, the control algorithm adjusts the attitude angle using simplified orientation orientation matrix.

• Journal of the Korean Society of Physical Medicine
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• v.12 no.3
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• pp.93-98
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• 2017

PURPOSE: This study investigated the activities of lower limb muscles according to the angle of a medio-lateral ramp while walking to promote awareness of the risks associated with a medio-lateral ramp. METHODS: This study was conducted on 20 healthy male adults. The muscle activities of the vastus medialis oblique (VMO), vastus lateralis oblique (VLO), tibialis anterior (TA) and peroneus longus (PL) were measured while the subjects were walking on a 3 m medio-lateral ramp. Five angles (flat, $2^{\circ}$, $5^{\circ}$, $10^{\circ}$, and $15^{\circ}$) were selected for the angle conditions of the experiment on a medio-lateral ramp. The activities were measured during the stance phase only in the middle cycle of a three-cycle walking experiment. The mean value obtained from the three walking tests was used for the analysis. RESULTS: Results showed that walking on a mediolateral ramp required more muscle activities than walking on a flat surface, through which balanced walking was achieved. CONCLUSION: Walking on a medio-lateral ramp requires proper muscle activation and control, without which the risks of injury to the joints of the lower limbs and falls are likely to increase. Therefore, special attention should be given to older people and the disabled under the condition of traversing a ramp.

• Research in Community and Public Health Nursing
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• v.21 no.4
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• pp.409-418
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• 2010

Purpose: This study aimed to estimate the effects of a regular walking exercise program on metabolic syndrome, cardiovascular risk factors, and depressive symptoms among the elderly with diabetic mellitus (DM) based on the Theory of Reasoned Action (TRA). Methods: This study has randomized and stratified experimental design with experimental and control groups. We developed a regular walking exercise program suitable for the elderly with DM based on the guidance of AAHPERD. The experimental group participated in the regular walking exercise program, which contains walking exercise 3 times a week and 50 minutes each time for 3 months and education on controlling diet and preventing complications once a week and 20 minutes each time for 4 weeks. Post-test was conducted after 3 months to estimate metabolic syndrome, cardiovascular risk factors, and depressive symptoms. Results: The regular walking exercise program was effective for decreasing the waist size, the level of fasting blood glucose (FBG) and triglyceride (TG), cardiovascular risk factors and the severity of depressive symptoms among the elderly with DM. Conclusion: The incidence of complications would be decreased by applying a regular walking exercise program.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.6
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• pp.376-382
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• 2005

In this paper, practical biped humanoid robot is presented, designed, and modeled by fuzzy system. The humanoid robot is a popular research area in robotics because of the high adaptability of a walking robot in an unstructured environment. But owing to the lots of circumstances which have to be taken into account it is difficult to generate stable and natural walking motion in various environments. As a significant criterion for the stability of the walk, ZMP (zero moment point) has been used. If the ZMP during walking can be measured, it is possible for a biped humanoid robot to realize stable walking by a control method that makes use of the measured ZMP. In this study, measuring the ZMP trajectories in real time situations throughout the whole walking phase on the flat floor and slope are conducted. And the obtained ZMP data are modeled by fuzzy system to explain empirical laws of the humanoid robot. By the simulation results, the fuzzy system can be effectively used to model practical humanoid robot and the acquired trajectories will be applied to the humanoid robot for the human-like walking motions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.628-632
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• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• Journal of the Korean Society of Physical Medicine
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• v.5 no.4
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• pp.675-683
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• 2010

Purpose : The purpose of this study was to evaluate the effect of Whole body vibration exercise(WBVE) in patient with chronic stroke. Methods : Thirty patients were divided into two groups by randomly experimental group(14 subject) and control group(16 subject) in a single blinded, randomised study. experimental group was conducted for the 6-weeks WBVE program and had a structured exercise program for 16 minutes, 5 days per week and control group was conducted for the shame exercise program. Outcome variables included the knee extensor strength, Berg balance scale, Timed up and go test at 0 and 6 weeks. Results : The experimental group tended to improve more than the control group in balance(Berg balance scale) and walking ability(Timed up and go test). There were no trends in differences in change scores by the knee extensor strength. Conclusion : WBVE program may be helpful to improve knee extensor strengthening, dynamic balance and walking ability for patients with chronic patients.

• Journal of the Korean Society of Physical Medicine
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• v.5 no.4
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• pp.569-576
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• 2010

Purpose : This study was aimed at determining the effects of community-based exercise program to improve leg muscle strength and balance for elderly women. Methods : This study was nonequivalent control group pre-post test design. Subjects were assigned to two different groups(exercise group=11, control group=7). Exercise group performed community-based exercise program for 8 weeks. Outcome measures included leg muscle strength, balance, walking velocity, activities of daily living(ADL), exercise self-efficacy and health-related quality of life(QoL). The collected data analyzed by independent t-test and paired t-test. Results : Leg muscle strength, walking velocity and mental component summary(QoL) were significantly improved in the exercise group. But balance and exercise self-efficacy were significantly worsened in the control group. There were no significant difference between groups after 8 weeks of community-based exercise. Conclusion : These results suggested that the community-based exercise program is effective for elderly women in improving leg muscle strength, walking velocity and mental component summary(QoL).