• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.497-502
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• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.10
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• pp.885-890
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• 2015

Walking on split-belt treadmill has been applied to study walking disabilities, such as osteoarthritis (OA), to show asymmetric walking characteristics. In this study, we compared asymmetric walking in OA patients with healthy subjects under split-belt conditions and examined the reproduction of walking asymmetry in OA. Seven OA patients were instructed to walk at four frequencies, while four healthy subjects walked on a treadmill with tied-belt and split-belt conditions. To compare walking asymmetries, kinetic and kinematic measurements were made using force-plates and motion capture cameras, and subsequently center of mass (CoM) velocity, mechanical work and potential energy were calculated. Horizontal velocity change during split-belt walking of healthy subjects was similar to OA patients. Difference of mechanical work during single support phase occurred due to fall of CoM in fast belt. OA walking asymmetry could be reproduced by reducing differences of belt speeds to prevent rapid fall of CoM.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.5
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• pp.477-481
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• 2014

Human has various types of emotions which affect speculation, judgement, activity, and the like at the moment. Specifically, walking is also affected by emotions, because one's emotion status can be easily inferred by his or her walking style. The present research on biped walking with humanoid robots is mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, walking pattern needs to be changed depending on the emotion status of the robot. This paper provides analysis and comparison of gait experiment data for the men and women in four representative emotion states, i.e., joy, sorrow, ease, and anger, which was acquired by a gait analysis system. The data and analysis results provided in this paper will be referenced to emotional biped walking of a humanoid robot.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.173-178
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• 2017

As research on the practical use of robots has continued since the past, advancements into each field of society are being continuously tried in modern society, breaking bounds from the previous experimental environment. However, in order for robots to be applied to the real environment, the production cost, which is considered to be the biggest disadvantage of commercializing the existing robot platform, and the adaptability issue in working environments in terms of human standards must be considered. This paper proposes a robot of biped walking form, which conforms to the degree of freedom and the size of human beings. By replacing the encoder with a combined module of potentiometer, the high cost of production is reduced, and by adopting a modular design that is easy to replace parts, the maintenance cost of robots is reduced. Finally, stability was verified by applying a walking pattern to two dummy robots of different sizes and motor arrangements. In this paper, after developing the real biped walking robots, the performance and usability were verified through walking experiments and applying the walking pattern using the developed robots.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.446-452
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• 2002

This paper Presents a 3-D design and a Vibration control of a new walking R.G.O.(Robotic Gait Orthosis) and would like to develop a simulation by this walking system. The vibration control and evaluation of the new knee joint mechanism on the biped walking R.G.O.(Robotic Gait Orthosis) was a very unique system and was to obtain by the 3-axis accelerometer with a low frequency vibration for the paraplegia It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking R.G.O.. The new knee joint system of both legs were adopted with a good kinematic characteristics. It was designed attached a DC-srevo motor and controller, with a human wear type. It was able to accomodate itself to a environments of S.C.I. Patients. It will be expect that the spinal cord injury patients are able to recover effectively by a new walking R.G.O. system.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.6
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• pp.687-693
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• 2011

Spring-mass models have been widely accepted to explain the basic dynamics of human gait. Researchers found that the leg stiffness increased with gait speed to increase energy efficiency. However, the difference of leg stiffness change with gait speed between the young and the elderly has not been verified yet. In this study, we calculated the lower limb stiffness of the elderly using walking model with an axial spring. Vertical stiffness was defined as the ratio of the vertical force change to the vertical displacement change. Seven young and eight elderly subjects participated to the test. The subjects walked on a 12 meter long, 1 meter wide walkway at four different gait speeds, ranging from their self-selected speed to maximum speed randomly. Kinetic and kinematic data were collected using three force plates and motion capture cameras, respectively. The vertical stiffness of the two groups increased as a function of walking speed. Maximum walking speed of the elderly was slower than that of the young, yet the walking speed correlated well with the optimal stiffness that maximizes propulsion energy in both groups. The results may imply that human may use apparent limb stiffness to optimize energy based on spring-like leg mechanics.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.35 no.1
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• pp.19-28
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• 2019

The purpose of this study is to evaluate the walking behavior analysis methodology used in the previous studies, paying attention to the demand for empirical data collecting for urban and neighborhood planning. The preceding researches are divided into (1)Recording, (2) Surveys, (3)Statistical data, (4)Global positioning system (GPS) devices, and (5)Mobile Big Data analysis. Next, we analyze the precedent research and identify the changes of the walkability research. (1)being required empirical data on the actual walking and moving patterns of people, (2)beginning to be measured micro-walking behaviors such as actual route, walking facilities, detour, walking area. In addition, according to the trend of research, it is analyzed that the use of GPS device and the mobile big data are newly emerged. Finally, we analyze pedestrian data based on mobile big data in terms of 'application' and distinguishing it from existing survey methodology. We present the possibility of mobile big data. (1)Improvement of human, temporal and spatial constraints of data collection, (2)Improvement of inaccuracy of collected data, (3)Improvement of subjective intervention in data collection and preprocessing, (4)Expandability of walking environment research.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.114-117
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• 2000

We developed a motion capture system to get angle data of human joints in walking mode. The data are used to coordinate the biped-walking robot developed in our laboratory. A pair of motion capture system is composed of three links with the ankle, knee, and pelvis joints. The system has six axes attached with potentiometers. We used an A/D converter was used to get digital data from joint angles. We filterd the data using the Butterworth 4th order digital filter, and simulated walking motion based on the data using the Matlab.

• 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.