• Physical Therapy Rehabilitation Science
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• v.11 no.4
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• pp.478-487
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• 2022

Objective: This study was conducted to analyze the effect of wearable complex muscle support system on energy efficiency during walking in elderly. Design: Cross sectional study Methods: Twenty healthy elderly participated in this study. All subjects performed a 6 minuteswalk test(6MWT) and stair climbing test in dual, slack and no suit conditions. In each condition, oxygen consumption(VO₂), metabolic equivalents(METs), energy expenditure measures(EEm), physiological cost index(PCI), walking velocity and heartrate were measured. Through repeated measured ANOVA, it was investigated whether there was a statistically significant difference in the measurement results between the three conditions. Results: In over-ground walking, VO₂, METs and EEm showed significant differences between no suit and slack conditions(p<0.05). In stair climbing, VO₂ showed significant difference between slack and dual conditions(p<0.05). Also, METs and EEm showed significant differences between no suit and slack, and between slack and dual conditions(p<0.05). Conclusions: Wearing the wearable complex muscle support system for elderly does not have much benefit in energy metabolism efficiency in over-ground, but there is a benefit in stair walking.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.277-280
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• 2004

In the research of biomechanical engineering, robotics and neurophysiology, to clarify the mechanism of human bipedal walking is of major interest. It serves as a basis of developing several applications such as rehabilitation tools and humanoid robots Nevertheless, because of complexity of the neuronal system that Interacts with the body dynamics system to make walking movements, much is left unknown about the details of locomotion mechanism. Researchers were looking for the optimal model of the neuronal system by trials and errors. In this paper, we applied Genetic Programming to induce the model of the nervous system automatically and showed its effectiveness by simulating a human bipedal walking with the obtained model.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.3
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• pp.163-169
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• 2008

In this paper, we propose a real-time people tracking system with multiple CCD cameras for security inside the building. The camera is mounted from the ceiling of the laboratory so that the image data of the passing people are fully overlapped. The implemented system recognizes people movement along various directions. To track people even when their images are partially overlapped, the proposed system estimates and tracks a bounding box enclosing each person in the tracking region. The approximated convex hull of each individual in the tracking area is obtained to provide more accurate tracking information. To achieve this goal, we propose a method for 3D walking human tracking based on the IMPRESARIO framework incorporating cascaded classifiers into hypothesis evaluation. The efficiency of adaptive selection of cascaded classifiers have been also presented. We have shown the improvement of reliability for likelihood calculation by using cascaded classifiers. Experimental results show that the proposed method can smoothly and effectively detect and track walking humans through environments such as dense forests.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.3B
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• pp.287-296
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• 2011

The white stick mainly used for visually impaired person has difficulty in providing location information and effective countermeasures for emergency situations encountered during walking as well as detecting floating obstacles on the ground. In this paper, we propose a machine-to-machine based intelligent walking assistance system for safe and convenient walking of the visually impaired. The proposed system consists of a walking assistance stick used by the visually impaired and a server supporting multiple stick users in remote places through mobile communication networks. The stick equipped with ultrasonic sensors, GPS(global positioning system) receiver and vibrator not only detects floating obstacles, but also offers stick users with present location identification utilizing a text-to-voice conversion technology. Besides providing geographic information, the server notifies the emergency locations of users to guardian and aid agency, and it provides log information during walking such as the place, time and the number of accidents. Test results with a developed prototype system have shown that the system properly performs the functions and satisfies overall system performance.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.628-632
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• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.3
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• pp.53-61
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• 2022

Despite the increasing importance of pedestrians and their walking individualities, walking activity time characteristics are yet to be studied. This study analyzes the walking activity time characteristics by group using the Time Use Survey data. In order to analyze the characteristics of each pedestrian group, cluster analysis and correspondence analysis were performed by dividing the walking styles into utilitarian and leisure-purpose walking. Those who did not undertake utilitarian walking were mainly the worker group, whereas subjects who walked could be classified into homemaker and student groups. The peak of the student group appeared clearly in the morning, with a dispersed peak obtained during the afternoon. Although the peak of the homemaker group was not precise, it was confirmed that they mainly walked in the afternoon. The worker group also did not participate in leisure-purpose walking, while the elderly group mostly undertook walking for leisure. These walking activity time characteristics of pedestrians are expected to be applied when establishing related pedestrian policies.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.248-253
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• 2015

In order to adapt to human's life and perform missions, a humanoid robot needs a height at least similar with children's. In this paper, we proposed a humanoid robot which is like a child who is taller than 1m. We presented showing the humanoid robot's kinematics, designing of a three-dimensional model, developing mechanisms, and the hardware structures using servo motors and compact size PC. Through this process, we designed and manufactured child humanoid robot 'CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary Systems)' that is robot is 1m 10cm tall and 8.16kg in weight. For robot's walking, we applied to ZMP-based walking technique and the creation algorithm is applied for walking patterns. Through experiments, we analyzed walking patterns according to the creation and changing parameter values.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.448-453
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• 2012

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid wheeled and legged mobile robot is designed and a obstacle avoidance algorithm is proposed based on low power walking using LRF(Laser Range Finder). In order to stabilize the robot's motion and reduce energy consumption, we implement a low-power walking algorithm through comparison of the current value of each motors and correction of posture balance. A low-power obstacle avoidance algorithm is proposed by using LRF sensor. We improve walking stability by distributing power consumption and reduce energy consumption by selecting a shortest navigation path of the robot. The proposed methods are verified through walking and navigation experiments with the developed hybrid robot.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.4
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• pp.1-12
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• 2020

In this study, the effect of the social distance maintenance and pedestrian route system was analyzed for Seoul Station, one of the multi use facilities according to the COVID-19 pandemic. For analysis, the Seoul Station pedestrian network was established through the survey of the number of passengers and CAD floor plan. A pedestrian that maintaining Social Distance was implemented using the Social Force Model. Based on this, scenario analysis was proceed. As a result, when the walking line system was installed the average walking speed decreased compared to the current situation. but the average density was analyzed that maintain the walking level of service (LOS)'C', this mean walking line system is effective, and the effect of the walking line system was proved. It can be used as a pedestrian simulation model.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.6
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• pp.156-168
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• 2017

Personal mobility (PM) can increase the mobility of individual, so that the elderly can be set as the target group for using PM because of relatively low walking ability to normal. In this study, we design PM device for elderly that can be used safely in the walking environment such as sidewalk. There are various obstacles in the walking environment, so the device must have mechanical performance to overcome all of them. In this study, we survey the status and level of obstacle factors in walking environment to determine the dynamic performance of the PM device for elderly. We check up several guidelines about walking facilities to define obstacle points for the device, establish field survey methodologies, and conduct field survey for some specific road sections. Based on the survey results, we confirm the possible problems that could arise when the dynamic performance of the device is selected based on the facility-related criteria. We also define the performance requirements for the device based on the requirements for electric wheelchair.