• Physical Therapy Korea
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• v.22 no.4
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• pp.71-78
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• 2015

Previous studies have investigated stepping over obstacles in treadmill walking training (TWT-OS) and treadmill walking training (TWT) alone for walking capacity not considering real physical activity. As such, we investigated the effects of TWT-OS on physical activity and changes in different levels of physical activity based on community ambulation in stroke patients. Thirty subjects were randomly assigned to either the experimental group or the control group, with 15 and 15 subjects, respectively. However, one subject from the control group was excluded because of inadequate treatment sessions. All subjects underwent routine physical therapy in the form of treadmill walking. The subjects in the experimental group underwent simultaneous training in obstacle-stepping while walking on the treadmill for 30 min/day, five times/week, for four weeks. Subjects were given a three-axis accelerometer to wear at the hip on a belt for one-week pre- and post-training physical activity. Step counts for seven days, average daily step counts, and the average of minutes spent in sedentary, light, and above moderate activity were chosen as outcome measures of physical activity. No significant differences between the groups were found in terms of step counts for seven days, average daily activity, or daily activity spent at sedentary levels after four-week interventions. However, the average daily activity spent at light levels (-42.60 min vs. -6.71 min) was significantly lower in the experimental group than in the controls. Conversely, average daily activity spent at above moderate levels was higher (19.86 min vs. 11.07 min) (p<.05) after adjusting for each baseline value. Significant pre- and post-training differences were found in all variables of the experimental group (p<.05). Thus, TWT-OS could improve physical levels above moderate activity as a community-oriented task more than simple repetitive waking on a treadmill, and it could provide an opportunity for patients ambulatory after stroke to participate in the community again.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.2
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• pp.83-88
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• 2006

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.

• Journal of Korea Entertainment Industry Association
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• v.15 no.1
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• pp.191-197
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• 2021

This study studied the effect of visual difference on balance and walking ability in college students' life care. The study was conducted on 45 students attending H University in G City, divided into control groups (n=22, not wearing glasses and contact lenses) and experimental groups (n=23, wearing glasses and contact lenses). In not wearing glasses and contact lenses, the subjects measured visual acuity with logMAR charts, evaluated their balance ability with BIOrescue, and evaluated walking ability with G-Walk. The results of this study showed that the experimental group had statistically significantly lower vision than the control group in the visual acuity measurement(p<.01). Static balance ability was statistically significant increase in center of mass movement of the right foot in the experimental group compared to the control group(p<.05). Dynamic balance ability was statistically significantly reduce in limit of stability for groups of experiments compared to control group(p<.05). The walking ability was statistically significantly shorter on step length and stride length, swing of the experimental group compared to the control group in the right foot(p<.05). The findings showed that the visual difference in university students reduces balance and walking ability. Therefore, university students with poor visual acuity are recommended to correct of visual acuity to prevent collision and falls in their daily lives.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.481-485
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• 2014

In service robots, a number of human movements are analyzed using a variety of sensors. Vibration signals from walking movements of a human provide useful information about the distance and the movement direction of the human. In this paper, we measure the intensity of vibrations and detect both human walking pace and direction. In our experiments, vibration signals detected by microphone sensors provide good estimation of the distance and direction of a human movement. This can be applied to HRI (Human-Robot Interaction) technology.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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• pp.1067-1075
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• 2002

The system error model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. The walking navigation system (WNS) that calculates navigation information through walking detection has small error than INS, but the error also increases with time. In order to improve reliability of the system regardless of time, WNS is integrated with GPS. Since WNS is usually used in urban area, the blockage of CPS signal is frequently occurred. Therefore tightly coupled Kalman filter is used for the integration of WNS and GPS. In this paper, the system model for the design of tightly coupled Kかm filter is designed and measurement is linearized in consideration of moving distance error. It is shown by Monte Carlo simulation that the error is bounded even through the number of visible satellite is less than 4.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.320-327
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• 2006

This paper introduces a new entertainment robot called ELIRO-II(Eating Lizard RObot version 2)which is a bio-mimetic quadruped walking robot with autonomous eating function. We focus on the realization of the behavior of an animal, i.e., wandering around to find food and eating food. The ELIRO-II is modeled after a lizard, which has four legs, 2-DOF waist-joint, an eye part, a mouth part and a stomach part. The effectiveness of the developed robot is shown through real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.333-344
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• 2014

This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots' walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.7
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• pp.723-733
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• 1988

In this paper, A model of 4-legged walking robot is presented by investigating the gait of animals, which can walk with maintaining static stability on irregular terrain. Kinematices of the model robot was analyzed by geometric approach, and a gait control algorithm is proposed for the effective walking on irregular terrain. Terrains are classified into 4 types in order to study the terrain adaptability of the proposed algorithm and it is simulated for each type of terrain.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.432-432
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• 2000

The above-Knee Prosthesis has been used by the handicapped person and become a important part of their life. But uniform above-knee prosthesis only increases inconvenience And so the tool that can estimate and help to design of suitable prosthesis for user need to be developed. The simulator developed in this research is composed of two part. One is hardware that can realize various walking motions. The other is software that can display and analyze the results of walking mot ion. Three motors constitute hardware of Simulator. Two motors are used to realize heap motion that need two degree of freedom and the rest one used to realize swing motion. Software of Simulator display results of three motor trajectories and walking mot ion of hardware using computer graphic. Therefore, The simulator developed in this research which is able to realize human gait and results are analyzed through simulation program at PC will be some help to design and produce of prosthesis suitable to user.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.141-148
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• 2012

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.