• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.867-868
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• 2013

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• Journal of the Korean Society of Clothing and Textiles
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• v.48 no.1
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• pp.108-119
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• 2024

In this study, we aimed to propose enhancements to the dimensions and design of walking aids tailored for elderly women. Specifically, we focused on wheeled walking assistance devices and aligned each structural component with the appropriate human body dimensions to suggest appropriate product dimensions organized by size clusters, aiming to maximize the practicality of the results. We extracted essential factors required for product design, including human body size elements. The dimension extraction method was clustered to establish connections between key human body parameters-such as height, weight, and age groups-and product dimensions. We conducted a comparative analysis of walking aid product dimensions according to the design elements and sizes of models currently available in the market. The outcomes of this study offer objective, data-driven insights into areas where existing models on the market could benefit from improvement and we anticipate that the findings of this study will provide a solid, quantitative foundation for individuals when selecting the most suitable model for their needs.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.55-62
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• 2013

The exoskeleton robot to assist walking of hemiplegia patients or disabled persons has been studied in this paper. The exoskeleton robot with degrees of freedom of 2 axis has been developed and tested for joint motion. The obtained EMG signal from normal person was analyzed and the control signal was extracted from it for convenient and automotive performance of assistance robot to help hemiplegia patient walks as normal person does. the purpose of using FES(Functional Electrical Stimulation) for hemiplegia patient's walk is to restore damaged body function by this, but this could give fatal electrical shock to patients by wrong use or cause quick fatigue in muscle by continuous stimulation. The convenient movement of hemiplegia patients with minimum muscle fatigue was looked possibly by operation of assistance robot exoskeleton using control signal. and the walking assistance exoskeleton robot seemed works more efficiently than using FES stimulator. The experiment in this study was performed based on usual motion in our life like walking, standing-up, sitting-down, and particularly feedback control system using Piezo sensor along with button switch was applied for smooth swing motion in walking. The experiment also shows that hemiplegia patients can move conveniently by using electromyogram signal of healthy leg for the operation signal of assistance robot system attached at damaged symmetrical leg.

• Journal of Korean Physical Therapy Science
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• v.13 no.2
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• pp.27-36
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• 2006

The purpose of this study would like to analyze statically significant difference for low back-pain frequency of mother after development-disability children. Seven nursery children with disability conducted survey from 122 mothers cared children with disability. Survey data was obtained from April 14. 2006 to May 23. 2006. The results were as follows: According to walking-existence, assistance walking, and disability-degree, low back pain incidence frequency of mothers were statically significant difference, (p<0.05). Low back pain incidence frequency of walker-ability population was 51.4%, but low back pain incidence frequency of walker-disability population was 80.0%. then low back pain incidence frequency of mothers to walking-existence was differed amount. Disabled not statically significant difference to encephalopathy and disability-type1 and disability -type2 (p>0.05). children with disability-degree and assistance walking benchmarked low back pain disability-measure. Low back pain degree not relevancy statically significant. Physical load was statically significant difference between Oswestry's low back pain score and reach effect to child-cared(p<0.05). As development-children with disability of disable degree, Mother appeared to highly low back pain frequency rate and appeared to large reach effect child-cared owing to physical load of low back pain. So hereafter, location and person request to approach with more clinical and objectively. As approach result, it will help to stress solution of children with disability owing to develop to low back pain class and family capable strengthening program and so on.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.465-472
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• 2009

This paper proposes a multimodal information transformation system that converts the image information to the voice information to provide the sight impaired people with walking area and obstacles, which are extracted by an acquired image from a single CCD camera. Using a chain-code line detection algorithm, the walking area is found from the vanishing point and boundary of a sidewalk on the edge image. And obstacles are detected by Gabor filter of extracting vertical lines on the walking area. The proposed system expresses the voice information of pre-defined sentences, consisting of template words which mean walking area and obstacles. The multi-modal information transformation system serves the useful voice information to the sight impaired that intend to reach their destination. The experiments of the proposed algorithm has been implemented on the indoor and outdoor environments, and verified its superiority to exactly provide walking parameters sentences.

• 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.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.467-468
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• 2016

The importance of the recent manufacturing industry have been made to invest in a lot of assistance and human resource development at the national dimension in which to rise again. However Learned in actual school education kinetic, and the use to how product design structural knowledge, Often it feels vague unlikely whether it is possible to derive an optimal product. In this study, by using the simulation-based Jansen Mechanism designed a walking robot, after optimization of the numerical consideration when designing for optimum walking motion, through simulation through the actual production resulting numerical information is examined whether valid. In addition, through the actual production was walking robot, to verify the validity of the simulation-based design.

• Journal of Digital Contents Society
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• v.12 no.3
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• pp.279-289
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• 2011

The latest hardware and software techniques are combined to give safe walking guidance and convenient service of realtime walking assistance system for visually impaired person. This system consists of obstacle detection and perception, place recognition, and sign recognition for pedestrian can safely walking to arrive at their destination. In this paper, we exploit the sign object detection system in subway station for sign recognition that one of the important factors of walking assistance system. This paper suggest the adaptive feature map that can be robustly extract the sign object region from complexed environment with light and noise. And recognize a sign using fast zernike moment features which is invariant under translation, rotation and scale of object during walking. We considered three types of signs as arrow, restroom, and exit number and perform the training and recognizing steps through adaboost classifier. The experimental results prove that our method can be suitable and stable for real-time system through yields on the average 87.16% stable detection rate and 20 frame/sec of operation time for three types of signs in 5000 images of sign database.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.825-837
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• 2017

This paper describes a novel type of a walking rehabilitation robot that applies robot technologies to crutches used by patients with walking difficulties in the lower body. The primary features of the developed robot are divided into three parts. First, the developed robot is worn on the patient's chest, as opposed to the conventional elbow crutch that is attached to the forearm; hence, it can effectively disperse the patient's weight throughout the width of the chest, and eliminate the concentrated load at the elbow. Furthermore, it allows free arm motion during walking. Second, the developed robot can recognize the walking intention of the patient from the magnitude and direction of the ground reactive forces. This is done using three-axis force sensors attached to the feet of the robot. Third, the robot can perform a stair walking function, which can change vertical movement trajectories in order to step up and down a single stair according to the floor height. Consequently, we experimentally showed that the developed robot can effectively perform walking rehabilitation assistance by perceiving the walking intention of the patient. Moreover we quantitatively verified muscle power assistance by measuring the electromyography (EMG) signals of the muscles of the lower limb.