• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.83-86
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• 1996

We propose a mathematical model which describes the walking behavior of a person and to analyze the effect of the personality on the dynamics of the crowd. The fundamental assumption is that the human behavior is not a random process but a deterministic process with several basic mechanisms and each fundamental mechanism is common and only the parameter is different from person to person. The proposed model is based on the servomechanism which drives a person along the planned path from point to point. This model has been applied to simulate the walks of people in a crowd and the simulated results have a good coincidence with actual measurement.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.169-175
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• 2000

Stable and comfortable walking supports, which can reduce the body weight load partially, are needed for the recovering patients from neurologic disease and orthopedic procedures. In this paper, the development of a manipulator of rehabilitation robot for the patients with walking disabilities are studied. A force controller using pneumatic actuators is designed and implemented to the human friendly rehabilitation robot considering the safety of patients, reliability of the system, effectiveness of the unloading control and economic maintenance of the system. The mechanism of the unloading manipulator is devised to improve the sensibility for the movement of the patients such as direction and velocity. For the unloading force control, fuzzy control algorithm is adopted to reduce the partial body weight and suppress the unwanted fluctuation of the body weight load to the weak legs due to the unnatural working of the patients with walking disabilities. The effectiveness of the force control is experimentally demonstrated.

• Journal of Korean Academy of Nursing
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• v.35 no.5
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• pp.787-797
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• 2005

Purpose: The purpose of this study was to examine the effects of problem solving nursing counseling and walking exerciseon weight loss, cardiovascular risk factors, and self-efficacy of diabetic control among obese diabetic patients. The Polar heart rate monitor was used for walking exercise to utilize the Biofeedback mechanism. Method: Fifty nine diabetic patients were conveniently placed into experimental (n=35) and control groups (n=24). The experimental group participated inweekly nursing counseling for 12 weeks and was encouraged to do walking exercise using a Polar monitor. The control group remained in the same treatment as before. The data wascollected from November 2003 to August 2004 and analyzed using t-tests and ANCOVAs. Results: After 12 weeks, the participants in the experimental group reported significantly decreased body weight (p=.004) and total scores on the Parma scale (p=.00l). While the participants in the control group reported significantly increased levels of blood triglyceride (p=.046) and HDL (p=.018). Conclusion: Based on the findings, we concluded that problem focused nursing counseling with intensified walking exercise could reduce the risk of cardiovascular complications and body weight among obese diabetic patients. Future research to explore the long-term effects of nursing counseling on diabetic complications is warranted.

• The Journal of Korean Physical Therapy
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• v.31 no.4
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• pp.169-175
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• 2019

Purpose: This study examined the effects of a spiral elastic band for the walking function on patients with chronic stroke. Methods: Twenty one chronic stroke patients were recruited and divided randomly into the experimental group and control group. Both groups performed mat exercises and gait training three times a week for four weeks, and gait training was applied to the experimental group with additional spinal elastic bands. Results: The results of this research were as follows. The 10MWT measurements showed that the velocities within and between the groups decreased significantly, and the results of TUG showed significant decreases in velocities after the interventions in both the control group and experimental group. On the other hand, there were no significant differences between the control and experimental group. The FRT measurements showed significantly increased stride lengths within and between the groups. The measurements of the stride length, stride velocity, cadence, and step length showed significant improvement within the groups, but there was no significant difference between the groups. The measurement of stance showed that the non-paralytic patients had a significant increase in the rates within the groups and a significant difference was observed between the groups. Conclusion: Spiral elastic bands are an effective intervention method for rehabilitation programs to enhance the walking function in the clinical field. A treatment needs to be developed for patients with walking problems due to various disorders by investigating the action mechanism of spiral elastic bands.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1043-1047
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• 2013

Smart mobile robot is a kind of Intelligent Robot. It means that operates manipulate autonomously and recognize the external environment. Smart mobile robot moving mechanism has many type and the type depend on the robot shape or purpose. Recently, research on the moving mechanism has been actively in many area. The moving mechanism divided to wheel type, crawler type, walking type, other type and the moving type choose by the kind of robot or the purpose robot. In this paper, describe the kind of moving mechanism on the smart mobile robot and the technical trend of moving mechanism of smart mobile robot.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.501-505
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• 2016

In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

• KIISE Transactions on Computing Practices
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• v.22 no.2
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• pp.113-118
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• 2016

The walking speed of handicapped people generally is slower than that of normal people. So it is difficult for them to cross at crosswalks within the allotted time provided by the traffic light. This problem can be solved by expanding the time of the traffic light. However, if the latency of the traffic light is increased without distinguishing the handicapped among all other pedestrians, the efficiency of traffic signal lights will decrease. In this paper, we propose a smart traffic signal connecting mechanism between the previous pedestrian traffic signal and a pedestrian's device (smartphone). This Smart pedestrian traffic light, through this mechanism, minimizes traffic congestion by providing additional walking time only to the handicapped among pedestrians. This crosswalk traffic light recognizes the handicapped using a technique called Internet of things (IOT). In this paper, we extract the data necessary to build an effective smart crosswalk traffic light mechanism through simulation techniques. We have extracted different kinds of traffic signal times with our virtual simulation environment to verify the efficiency of the smart crosswalk pedestrian traffic light system. This approach can validate the effective delay time of the traffic signal time through a comparison based on number of pedestrians.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.105-115
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• 2006

The purpose of this study is to elucidate the mechanical characteristics of lower extremity joint movements at different walking speeds in obese people and suggest the very suitable exercise for obese person's own body weight and basic data for clinical application leading to medical treatment of obesity. This experimental subjects are all males between the ages of 20 and 30, who are classified into two groups according to Body Mass Index(BMI): one group is 15 people with normal body weight and the other 15 obese people. Walking speed is analysed at 3 different speeds ($1.5^m/s$, $1.8^m/s$, $2.1^m/s$) which is increased by $0.3^m/s$ from the standard speed of $1.5^m/s$. We calculated joint moments of lower extremity during stance phase through video recording and platform force measurement.Two-way ANOVA(Analysis of Variance, Mix) is applied to get the difference of moments according to walking speeds between normal and obese groups. Pearson's Correlation Analysis is applied to look into correlation between walking speeds and joint moments in both groups. Significance level of each experiment is set as ${\alpha}=.05$. As walking speed increases maximum ankle plantar flexion moment in the stance phase is smaller in obese group than in normal group, which is suggestive of weak toe push-off during terminal stance in obese group, and the highest maximum ankle plantar flexion moment in obese group during the middle speed walking($1.8^m/s.$). Maximum ankle dorsal flexion moment in obese group is relatively higher than in normal group and this is regarded as a kind of compensatory mechanism to decrease the impact on ankle when heel contacts the floor. Maximum knee flexion and extension moments are both higher in normal group with an increase tendency proportional to walking speed and maximum hip flexion and extension moments higher in obese group. In summary, maximum ankle plantar flexion moment between groups(p<.025), maximum knee moment not in flexion but in extension(p<.001) within each group according to increasing walking speed, and maximum hip flexion and extension moment(p<.001 and p<.004, respectively according to increasing walking speed are statistically significant but knee and hip moments between groups are not. Pearson correlation are different: high correlation coefficients in maximum knee flexion and extension moments, in maximum hip extension moment but not hip flexion, and in maximum ankle dorsal flexion moment but not ankle plantar flexion, in each group. We suspect that equilibrium imbalance develops when the subject increases walking speed and the time is around which he takes his foot off the floor.