• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• Journal of the Korea Fashion and Costume Design Association
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• v.17 no.2
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• pp.239-249
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• 2015

This study was focused on how the various materials of footwear affect the preferences of functionality and the level of discomfort when wearing. Datas were collected using questionnaire, age of 20's to 50's of female and male. Results were analysed using SPSS WIN 2.0 through t-test and ANOVA test. Results are as follows: In the preferences of materials of footwear, datas showed the shoes are of genuine leather, the sneakers are of textiles, the sandals are of man-made leather and the boots are of genuine leather. The important factor to the preferences of the materials were the leathers in the durability, the man-made leathers in easy-care and maintenance, the rubber and the complex materials in comforts. The level of the discomforts of the footwear were highly ranked in genuine leather, the man-made leather and the complex material with man-made leather and textiles followed. Man-made leather and the textiles represented the discomfort in the ankle. Mostly discomforts of the footwear showed in the sole and the top side of the foot in all kinds of footwear. The preferences in functionality were collected by the female, also female preferred the comfort the first, male preferred the durability. And the texture and the durability were highly preferred in aged female and male.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.7
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• pp.79-86
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• 2008

This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis farce/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.11
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• pp.3064-3082
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• 2023

During the last decade, several Electronic Orientation Aids devices have been proposed to solve the autonomy problems of visually impaired people. When hearing is considered the primary sense for Visually Impaired people (VI) and it is generally loaded with the environment, the use of tactile sense can be considered a solution to transmit directional information. This paper presents a new wearable haptic system based on four motors implemented in shoes, while six directions can be played. This study aims to introduce an interface design and investigate an appropriate means of spatial information delivery through haptic sense. The first experiment of the proposed system was performed with 15 users in an indoor environment. The results showed that the users were able to recognize, with high accuracy, the directions displayed on their feet. The second experiment was conducted in an outdoor environment with five blindfolded users who were guided along 120 meters. The users, guided only by the haptic system, successfully reached their destinations. The potential of tactile-foot stimulation to help VI understand Electronic Orientation Aids (EOA) instructions was discussed, and future challenges were defined.

• PNF and Movement
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• v.22 no.2
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• pp.267-274
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• 2024

Purpose: The purpose of this study was to determine the effects of functional insole application using a hallux point on dynamic balance. Methods: Twenty-nine participated in this study. The experiment investigated changes in dynamic balance with the use of a functional insole that emphasized the hallux point. After explaining the experiment to the subjects, the Y-balance test was conducted to measure dynamic balance before the insole was applied. The test was then repeated after the functional insole with the hallux point was. Paired t-tests were used to analyze the statistical differences before and after the application of the functional insole with the hallux point. Results: The functional insole that emphasizes the hallux point significantly increased the distance in the anterior (p<0.05), posteromedial (p<0.05), posterolateral (p<0.05) directions as well as the composite score measured by the Y-balance test compared to before the insole application. Conclusion: The use of a functional insole that emphasizes the hallux point can help the foot pronate during dynamic balance, thereby improving balance through the control of the sole.

• Journal of Naturopathy
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• v.11 no.1
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• pp.39-50
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• 2022

Background: It is essential to investigate the functionality of the newly developed knobble shoe. Purpose: The purpose was to explore how the body shape and balance change when wearing knobble shoes. Methods: Nine subjects wearing knobble shoes after walking for a month were analyzed. Results: For knobble shoes, we created various small air pockets in the insole to stimulate the soles of the feet to induce body changes. In particular, it was to promote the arch part of the foot by making a large lump inside and outside the center of the foot's arch. After wearing knobble shoes and using them for 30 days, the average blood sugar decreased by 31.1 mg. The lowering range was 5 to 120 mg. In one patient, the result of the hemoglobin test decreased by 7.5% to 6.5%. In the shoulder tapping test for a body balance test, seven subjects leaned to the right in a barefoot state, and two people to the left. However, after wearing shoes, all of them maintained equilibrium. knobble shoes fit, and balance was all stable. There were two subjects with a short left and four subjects with a short right. Conclusions: Blood sugar decreased after wearing the knobble shoes. The deformed shape of the body was restored to its original state by the knobble supporting the foot arch area. The balance of the sole directly affects the overall posture.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.1153-1160
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• 2012

This study was intended to implement ankle joint dorsi flexion training against ankle muscule strength weakening that erodes stroke patients' gait performance to examine the effect of the training on stroke patients' plantar pressure and gait ability. In this study, 36 stroke patients diagnosed with stroke due to cerebral infarction or cerebral hemorrhage were divided to measure 10MWS which are stroke patients' gait variables maximum plantar pressure by area of the sole by collecting data using an F-scan system during gait. Given these results of the study, compared to other training groups, the ankle muscule strength reinforcing training group showed statistically significant increases of maximum plantar pressure in the great toe, the toe and the first metatasal areas too and thus it can be said that this training increases forward thrust during stroke patients' foot end taking off and positively affects stroke patients' ability to perform gait.

• Journal of Acupuncture Research
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• v.29 no.1
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• pp.127-137
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• 2012

Objectives : The purpose of this study is to investigate the effect of $Clematidis$ radix herbal-acupuncture solution, on collagen, adjuvant, lipopolysaccharide and phospholipase A2 induced rheumatoid arthritis in mice. Methods : Arthritis index was measured for mouse that was injected subcutaneously in solution mixed chicken type II collagen with Freund's complete adjuvant. We injected Freund's complete adjuvant into right posterior part of the sole of a ICR mouse foot, which was measured by plethysmometer. The solution mixed $CRHS$ with Tris-HCI, $CaCl_2$, substrate, enzyme was done a chemical action for thirty minutes, and then inhibitory activity of PLA2 enzyme was expressed with inhibition percentage by utilizing isolated arachidonic acid. COX-2 was induced by adding LPS to RAW 264.7 cell, and COX-2 activity was measured by western blot analysis and $PGE_2$ Biotrak kit. Results : $CRHS$ also inhibited Freund's complete adjuvant induced chronic rheumatoid arthritis in mice. $CRHS$ showed significant inhibition of type I and type II $PLA_2$ activities in a dose dependent manner. Furthermore, $PGE_2$ production was decreased with $CRHS$ and lipopolysaccharide-induced COX-2 protein expression was significantly inhibited by $CRHS$. Conclusions : These results suggest that $CRHS$ has an therapeutic effect on drug induced-rheumatoic arthritis by inhibiting $PLA_2$ and COX-2 activities.

• Physical Therapy Korea
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• v.8 no.4
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• pp.81-89
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• 2001

There are two independent mechanisms to control the segmental reflex gain in humans during gait. They are presynaptic inhibition and homosynaptic depression. Through the mechanism of the presynaptic inhibition, the muscle spindle afferent feedback can be properly gated during eccentric phase of gait. The modulation of the presynaptic inhibition is reflected in the level of H-reflex at a constant EMG level. During the eccentric muscle activation presynaptic inhibition should increase to account for the lower amplitude level of H-reflex at a constant level of EMG. Homosynaptic depression is another mechanism responsible for regulating the effectiveness of the muscle spindle afferent feedback. Both the presynaptic inhibition and the monosynaptic depression are responsible for modulating reflex gain during gait initiation. Reflex modulation is influenced not only as a passive consequence of the alpha motor neuron excitation level, but also through supraspinal mechanisms. Spastic paretic patients show the impaired soleus H-reflex modulation either during the initial stance phase, or during the swing phase. This abnormal modulatory mechanism can partially and artificially be restored by the application of peripheral stimulus to the sole of the foot, provided that the segmental circuitry remains functional.

• Annals of Rehabilitation Medicine
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• v.39 no.6
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• pp.897-904
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• 2015

Objective To investigate differences in plantar pressure distribution between a normal gait and unpredictable slip events to predict the initiation of the slipping process. Methods Eleven male participants were enrolled. Subjects walked onto a wooden tile, and two layers of oily vinyl sheet were placed on the expected spot of the 4th step to induce a slip. An insole pressure-measuring system was used to monitor plantar pressure distribution. This system measured plantar pressure in four regions (the toes, metatarsal head, arch, and heel) for three events: the step during normal gait; the recovered step, when the subject recovered from a slip; and the uncorrected, harmful slipped step. Four variables were analyzed: peak pressure (PP), contact time (CT), the pressure-time integral (PTI), and the instant of peak pressure (IPP). Results The plantar pressure pattern in the heel was unique, as compared with other parts of the sole. In the heel, PP, CT, and PTI values were high in slipped and recovered steps compared with normal steps. The IPP differed markedly among the three steps. The IPPs in the heel for the three events were, in descending order (from latest to earliest), slipped, recovered, and normal steps, whereas in the other regions the order was normal, recovered, and slipped steps. Finally, the metatarsal head-to-heel IPP ratios for the normal, recovered, and slipped steps were $6.1{\pm}2.9$, $3.1{\pm}3.0$, and $2.2{\pm}2.5$, respectively. Conclusion A distinctive plantar pressure pattern in the heel might be useful for early detection of a slip event to prevent slip-related injuries.