• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.358-364
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• 2007

Intelligent walking modeling of humanoid robot using learning based neuro-fuzzy system is presented in this paper. Walking pattern, trajectory of the zero moment point (ZMP) in a humanoid robot is used as an important criterion for the balance of the walking robots but its complex dynamics makes robot control difficult. In addition, it is difficult to generate stable and natural walking motion for a robot. To handle these difficulties and explain empirical laws of the humanoid robot, we are modeling practical humanoid robot using neuro-fuzzy system based on the two types of natural motions which are walking trajectories on a t1at floor and on an ascent. Learning based neuro-fuzzy system employed has good learning capability and computational performance. The results from neuro-fuzzy system are compared with previous approach.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.177-195
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• 2005

The purpose of this study was to analyze the kinematic variables of ankle joints and EMG signal of the lower limbs muscle activity for the different walking speed. The subjects were 6 males of twenties. It was classified into three different walking speed-0.75m/s, 1.25m/s, 1.75m/s. The walking performances were filmed by high speed video camera and EMG signal was gained by ME3000P8 Measurement Unit. Tibialis anterior(TA), Gastrocnemius medial head(GM), Gastrocnemius lateral head(GL), Ssoleus(SO) were selected for the dorsiflexion and plantarflexion of the ankle joint. The result of this study were as follows: 1. In the gait cycle, The time parameters for the phases were showed significant difference without the terminal stance phase and terminal swing phase for the different walking speed. 2. The angle of ankle joint was no significant difference for each time point and MDF, MPF but increasing walking speed the angle had the increasing pattern slightly. 3. The angular velocity of ankle joint was showed the significant difference for LHC, RTO, RKC, LHU, MPF and MDF point along the walking speed. 4. TA was showed about 2-3 times muscle activity at the 1.75m/s than 1.25m/s in some phases. And it was showed the similar muscle activity between the 0.75m/s and 1.25m/s but, showed a little much muscle activity in the 0.75m/s. GM was showed about 2-3 times muscle activity in the 1.75m/s than 1.25m/s, and even much muscle activity at the 0.75m/s than 1.25m/s in some phases. GL was showed increasing pattern of muscle activity specially in the initial swing phase as the walking speed increased. SO was showed about 3 times muscle activity in the 1.75m/s than 1.25m/s during the plantarflexion of ankle joint. It was showed the similar muscle activity between the 0.75m/s and 1.25m/s but, showed a little much muscle activity in the 1.25m/s.

• PNF and Movement
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• v.13 no.2
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• pp.73-80
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• 2015

Purpose: The purpose of this study was to determine the effect of symmetrical-reciprocal pattern of scapula and pelvis exercises using proprioceptive neuromuscular facilitation (PNF) on gait speed and balance in patients with hemiplegia. Methods: Among the adult patients with hemiplegia that were hospitalized at Michuhol Rehabilitation Center after being diagnosed with stroke, 10 that were capable of independent walking for more than five minutes and that understood and cooperated with the therapy and test methods of this research, were selected as subjects. The therapy was implemented based on the concept of PNF, and it was performed on a low mat and a height-adjustable mat, as proscribed by the fundamental procedure for PNF. Symmetrical-reciprocal pattern of scapula and pelvis exercises were applied to the patients in the decubitus position. The therapy scheme included stabilizing reversals, rhythmic stabilization, and a combination of isotonics, rhythmic initiation, and dynamic reversals. To investigate gait speed and body trunk mobility before and after the symmetrical-reciprocal pattern of scapula and pelvis exercises were applied, walking speed for a distance of 10 m was measured and balance was tested based on the Berg-Balance scale test table. The Berg-Balance scale test was performed by one therapist to minimize any error that could occur from the subjective evaluation method used by therapists. Results: Gait speed increased by 8.97 seconds after applying the symmetrical-reciprocal pattern of scapula and pelvis exercises using the concept of PNF, showing a significant difference (p<0.01). However, balance showed no significant difference after the therapy (p>0.14). Conclusion: Exercise therapy that uses the symmetrical-reciprocal pattern of scapula and pelvis with the concept of PNF can be said to be a useful therapeutic technique that can enhance the walking speed of patients with hemiplegia.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.725-730
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• 2004

This paper has regarded mechanism design of cane-like passive type walking aid for the elderly using 3-RPS parallel manipulator. First, gait patterns of the elderly have been experimented. By means of motion capturing and image processing, we decided loaded forces and places of the cane when the elderly walked with a cane. Using these results we have developed a passive type walking aid. Second, the walking pattern has been simulated using dynamic analysis program, ADAMS and we find out the similarity between the real walking and the simulated walking. Finally after assuring the similarity, with adjusting the new mechanism design to the simulated walking we will decide whether the walking aid is safe and stable when the elderly walks with this cane-like walking aid. This paper will be basis for the development of the mechanism design applying 3-RPS parallel manipulator.

• Journal of Korean Society of Forest Science
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• v.103 no.3
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• pp.503-509
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• 2014

The purpose of this study was to investigate the effect of Forest-walking exercise on gait pattern in the elderly. The subjects (n=37) were assigned to 2 groups: Forest-walking exercise (FWE) group (n=19, $66.34{\pm}4.31$ years old) and In-door treadmill-walking exercise (ITWE) group (n=18, $67.18{\pm}2.78$ years old). The subjects participated in FWE program or ITWE program (3 times/week, 80 min/day) for 12 weeks. The subjects were tested on functional fitness (strength, endurance, agility/balance, BMI) and gait pattern (cadence, velocity, and stability) at the beginning and the end of the 12-weeks program. For data analysis, mean and standard deviation scores were calculated, and independent t-test and repeated two-way ANOVA were used. The results of this study were as follow: First, FWE group was significantly more improved than ITWE group on functional fitness(lower-body muscular strength, lower-body flexibility, mobility, cardiorespiratory endurance) after 12-weeks exercise program. But both groups showed equally improvements on functional fitness (upper-body muscular strength, upper-body flexibility, BMI). Second, FWE group was significantly more improved than ITWE group on cadence, gait velocity, and gait stability after 12-weeks exercise program. Therefore, this study may suggest that Forest-walking exercise based on sensory-motor functional integration improves efficiently functional fitness and gait pattern in the elderly, and further becomes an effective exercise method that makes more dynamic life, and prevents from falling.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.10
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• pp.934-939
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• 2011

This paper experimentally deals with the relationship between the ankle electromyogram(EMG) and walking motion in order to activate the ankle joint of a walking-assistance robot for rehabilitation. Based on the anatomical structure and motion pattern of an ankle joint, major muscles were selected for EMG measurements. Surface EMG signals were monitored for several human bodies at various stride distances and stride frequencies. Root-mean-squared magnitude of EMG signals were related with the walking conditions. It appeared that the magnitude of the ankle EMG signal was linearly proportional to the stride distance and stride frequency, and thus to the walking speed.

• PNF and Movement
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• v.16 no.2
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• pp.195-205
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• 2018

Purpose: The purpose of this study was to demonstrate the effects of proprioceptive neuromuscular facilitation (PNF) stability techniques on walking speed, trunk stability, and balance in stroke patients. Methods: Ten stroke patients volunteered to participate in the study, and each of subjects was randomly assigned to either the stability technique (ST) group (n=5) or to the treadmill (TM) group (n=5). Each therapeutic exercise program was provided for 30 minutes a day, 5 days per week for 4 weeks. The ST group performed a PNF pattern combined with stabilizing reversal and rhythmic stabilization of the PNF stability technique. Walking speed (measured using a 10-meter walking test), trunk stability (TIS), and balance (BBS, FRT) were evaluated before and after training. All data were analyzed using SPSS version 18.0. The significance level for statistical inspection was set at 0.05. Results: Both groups showed improvements on the 10-meter walking test, the trunk impairment scale, the Berg balance scale, and the functional reaching test. Conclusion: PNF stability techniques are effective for improving trunk stability, balance, and walking speed in stroke patients. For stroke patients, PNF stability techniques are very useful and effective, including in clinical practice.