• 한국운동역학회지
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• 제13권2호
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• pp.161-173
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• 2003

This study was performed to investigate the kinematic and kinetic differences between functional walking shoe(FWS) and general sports shoe(GSS). The subjects for this study were 4 male adults who had the walking pattern of rearfoot strike with normal feet. The movement of one lower leg was measured using force platform and 3 video cameras while the subjects walked at the velocity of 2/1.5 m/s. The findings of this study were as follows 1. The angle of lower leg-ground and angle of knee with FWS was greater than with GSS at the moment of strike the floor and the moment of second peak ground reaction force. The decreasing rate of angle of ankle was smaller in FWS from the strike phase to the second peak ground reaction force. These mean upright walking and round walking along the shoe surface. 2. The maximal Increased angle of Achilles tendon and the minimal decreased angle of rearfoot were smaller in FWS very significantly(p<0.001). Thus FWS prevent the excessive pronation of ankle and have good of rear-foot control. 3. The vortical ground reaction force and the rate of it to the BW were smaller in FWS statistically(p<0.001). The loading rate was smaller in FWS, too, and thess represent the reduction of load on ankle joint and prevention of injuries on it.

• 한국군사과학기술학회지
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• 제18권3호
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• pp.309-315
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• 2015

This paper presents a lower-limb exoskeleton testbed and its control method. An exoskeleton is a wearable robotic system that can enhance wearer's muscle power or assist human's movements. Among a variety of its applications, especially for military purpose, a wearable robot can be very useful for carrying heavy loads during locomotion by augmenting soldiers' mobility and endurance. The locomotion test on a treadmill was performed up to maximum 4km/h walking speed wearing the lower-limb exoskeleton testbed with a 45kg backpack load.

• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.120-125
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• 2010

This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.

• 한국정밀공학회지
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• 제21권5호
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• pp.188-202
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• 2004

This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.

• 대한물리의학회지
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• 제7권4호
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• pp.459-469
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• 2012

PURPOSE: The purpose of the present study was to examine changes caused by asymmetric bag carrying methods to carry the bag with one shoulder only to plantar pressure during walking. METHODS: Twenty three normal adults without any gait problem participated in the present study. Experimental conditions used consisted of walking without carrying any bag(condition 1), walking wearing a bag on both shouders (condition 2), and walking wearing a bag on the right shoulder(condition 3) and the weight of the bag was set to 15% of each subject's body weight. All the subjects were instructed to participate in all experiments under these three conditions and plantar pressures were measured from the subjects' right and left feet using an F-scan system while the subjects were walking under the three conditions. To analyze the measured plantar pressure, the sole was divided into seven areas (Hallux, Toe, Met1, Met23, Met45, Mid foot and Heel) and maximum plantar pressures in individual areas were measured. RESULTS: The results of measurement of plantar pressures under three walking conditions did not show significant changes in any areas of the left and right feet except for the mid foot area of the right food. The asymmetry between the left and right feet was examined and the results showed significant differences only in area Met23 under condition 2 and did not show significant differences in any other areas. CONCLUSION: On comprehensively considering the results of the present study, it could be seen that asymmetric bag carrying did not have large effects on changes in plantar pressure during walking compared to symmetric carrying. The reason for this is considered to be posture adjusting mechanisms against load positions.

• PNF and Movement
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• 제7권4호
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• pp.31-36
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• 2009

Many daily activities require people to complete a motor task while walking. Substantial gait decrements during simultaneous attention to a variety of cognitive tasks have been shown by a group of severely injured neurological patients of mixed etiology. And previous studies have shown that the attentional load of a walking-associated task increased with its level of difficulty. The purpose of this study was to analyze subjects' gait changes are affected by the effects of arithmetic task difficulty and performance level. Participants performed a walking task alone, three different Arithmetic tasks while seated, and among them, two kinds of the simillar Arithmetic tasks in combination with walking. Reaction time and accuracy were recorded for two of the Arithmetic tasks. The mean values of the gait were measured using a Timed Up and Go test among 11 with post-stroke patients while walking with and without forward counting (WFC) and backward counting(WBC).There was significant Arithmetic Task Difficulty level between the 10-forward counting task condition(FC) and the 10-backward counting task condition(BC)(p=0.008). The mean values of T.U.G time were significantly higher under backward counting dual-task condition than during a simple walking task(p=0.009) and WFC(p=0.009). The change in T.U.G time during WFC was higher when compared with the change during a simple walking, but there was no significant difference (p=0.246). This study suggesting that a high interference could be linked with a high level of difficulty, whereas adaptive task enabled participants to perfectly share their attention between two concurrent tasks. Future research should determine whether dual task training can reduce gait decrements in dual task situations in people after stroke. And the dual-task-based exercise program is feasible and beneficial for improving walking ability in subjects with stroke.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.874-876
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• 1995

Force and compliance control has been used in the control of legged walking vehicles to achieve superior terrain adaptability on rough terrains. The compliance control requires distribution of the vehicle load over the supporting legs. However, the constraint equations for ground reaction forces of supporting legs are generally underdetermined, allowing an infinite number of solutions. Thus, it is possible to apply an optimization criteria in solving the force setpoint problem. It has been observed that the previous force setpoint optimization methods sometimes cause a system stability problem and/or the load distribution among supporting legs is not well balanced due to a memory effect on the solution trajectory, This paper presents an iterative force setpoint method to solve this problem using an interpolation technique. By simulation it was shown that an excessive load unbalance among supporting legs and the memory effect in the force trajectory are alleviated much with the proposed method.

• 한국정밀공학회지
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• 제28권1호
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• pp.56-62
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• 2011

Terrain recognition ability is crucial to the performance of legged robots in an outdoor environment. For instance, a robot will not easily walk and it will tumble or deviate from its path if there is no information on whether the walking surface is flat, rugged, tough, and slippery. In this study, the ground surface recognition ability of robots is discussed, and to enable walking robots to recognize the surface state and changes, a central moment method was used. The values of the sensor signals (load cell) of robots while walking were detected in the supported section and were analyzed according to signal variance, skewness, and kurtosis. Based on the results of such analysis, the surface state was detected and classified.

• 한국도로학회논문집
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• 제11권2호
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• pp.167-174
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• 2009

본 논문에서는 아스팔트 콘크리트 포장의 표층 프로파일과 차량특성인 차량속도와 현가장치를 다르게 하여 트럭 시뮬레이션 프로그램을 통한 동적하중을 분석하였다. 다양한 포장 상태의 프로파일을 입력하여 동적하중을 분석하였으며 프로파일, 차량의 현가장치, 차량속도에 따른 동적하중 변화를 분석하였다. 포장 거칠기가 증가할수록 동적하중이 증가하였으며, 속도가 증가할 수 록 동일한 포장 거칠기 하에서 동적하중이 증가하였다. Walking beam 현가장치가 Air spring 현가장치에 비해 더 큰 동적하중을 보였다. 동적하중 공분산을 이용하여 포장파손 지수를 결정하였으며, 동적하중 공분산과 신뢰도, 아스팔트 혼합물의 파괴매개변수가 증가할 수록 포장파손지수도 증가하였다. 본 연구의 결과를 이용하여 차량속도와 표층 아스팔트 혼합물 파괴특성에 근거한 포장 평탄성 규정에 이용할 수 있으며, 아스팔트 콘크리트 포장 시공 후 포장 평탄성에 근거한 지불규정에 효과적으로 사용할 수 있다고 판단된다.

• 한국지진공학회논문집
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• 제13권5호
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• pp.11-21
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• 2009

2방향 중공슬래브 시스템은 슬래브 두께가 증가해도 자중은 크게 증가하지 않으면서 솔리드 슬래브에 비해서 휨강성이 크게 저하되지 않는 장점이 있다. 따라서 최근 넓은 바닥판 구조에 대한 수요가 커지면서 2방향 중공슬래브 시스템에 대한 관심이 증가하고 있다. 그러나 이러한 장스팬 구조의 경우 바닥판 진동의 증가에 의한 사용성에 문제가 발생할 수 있고 특히 2방향 중공슬래브의 경우 기존의 구조시스템과 동적특성이 상이하다. 따라서 본 연구에서는 기존의 라멘조 시스템과 2방향 중공슬래브 시스템의 바닥진동성능을 보행하중을 가하여 검토해 보았다. 본 연구에서는 해석의 효율성을 위하여 2방향 중공슬래브의 동적특성을 정확히 나타낼 수 있는 등가의 플레이트 모델을 사용하여 시간이력해석을 수행하였다. 해석결과를 바탕으로 일본건축학회와 미국표준협회에서 제안하는 진동성능평가 기준을 이용하여 진동성능 평가를 수행한 결과 2방향 중공슬래브가 사무실 수준의 진동성능을 만족하고 있는 것으로 나타났다.