• 한국운동역학회지
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• 제25권3호
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• pp.241-248
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• 2015

Objective : The purpose of this study was to investigate the theta on the components of ground reaction force according to the ground conditions during gait. Method : Six healthy women(mean age: 22 yrs, mean height: $166.14{\pm}2.51cm$, mean body weights: $56.61{\pm}4.58kg$) participated in this study. The medial-lateral GRF(Fx 1), anterior-posterior GRF(Fy 1, Fy 2), vertical GRF(Fz 1, Fz 2, Fz 3), and impact loading rate were determined from time function and frequency domain. Also, GRF theta were time function and forces. Results : Fx 1, Fy 1 and Fy 2 of stair descending showed significant statistically higher forces than that of level walking, and ascending. Fz 1 of stairs descending showed significant statistically higher forces than that of level walking and stairs ascending(theta $88.62^{\circ}$). Also, Fz 2 of level walking showed significant statistically higher forces than that of stairs ascending and descending(theta $65.78^{\circ}$). Fz 3 of stairs ascending showed significant statistically higher forces than that of level walking and stairs descending($65.26^{\circ}$). Impact loading rate of stairs descending showed significant statistically higher forces than that of level and ascending walking. The GRF showed similar correlation with GRF theta(r=.603) according to the ground conditions during gait. Conclusion : These results suggest that the GRF theta can be used in conjunction with a gait characteristics, prediction of loading rate and dynamic stability.

• 한국습지학회지
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• 제4권1호
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• pp.33-41
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• 2002

Investigated was the ground-walking Coleoptera at the moor and adjacent forest at 800 m and rice paddies at lower level of 50 m in altitude. There were 5 species belonging to 5 genera and 2 families, 4 species belonging to 4 genera and 3 families, and 17 species belonging to 11 genera and 2 families respectively. Diplous depressus (Gebler) was the dominant species at the moor and forest in distinctive numbers, while Pheropsophus javanus (Dejean) was the one at the paddies. Three investigated sites supported independently their ground-walking Coleoptera groups. The moor group seemed to fail in establishing the resident Coleoptera community. The fact may imply to be related a kind of the pioneer species in early dry succession that D. depressus was found in a considerable range between forest and moor. The Coleoptera groups of moor and forest was different from that of paddies in species structure.

• 로봇학회논문지
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• 제18권2호
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• pp.182-188
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• 2023

Due to the acceleration of an aging society, the need for lower limb exoskeletons to assist gait is increasing. And for use in daily life, it is essential to have technology that can accurately estimate gait phase even in the walking environment and walking speed of the wearer that changes frequently. In this paper, we implement an LSTM-based gait phase estimation learning model by collecting gait data according to changes in gait speed in outdoor level ground and stair environments. In addition, the results of the gait phase estimation error for each walking environment were compared after learning for both max hip extension (MHE) and max hip flexion (MHF), which are ground truth criteria in gait phase divided in previous studies. As a result, the average error rate of all walking environments using MHF reference data and MHE reference data was 2.97% and 4.36%, respectively, and the result of using MHF reference data was 1.39% lower than the result of using MHE reference data.

• 한국운동역학회지
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• 제17권1호
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• pp.17-27
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• 2007

It is essential for gait analysis to know the distance information. The purpose of this study was to investigate the effects of start and finish distance on the gait variable during walking. Six adolescent participated in this study. Start condition was given by six conditions.: walking forward from (1) one step, (2) three steps, (3) five steps, (4) ten steps, (5) one step after standing walk, and (6) three steps after standing walk, before contacting the force plate. Stop condition was given by four conditions. : stop after (1) one step, (2) two steps, (3) three steps, and (4) ten steps, passing force plate. Repeated measured one-way ANOVA was utilized for data analysis, and the significant level was set at .05. The largest change from the difference of gait velocity exists between the variables of ground reaction force. There were no significant differences in spatio-temporal and posture(angle) variables, as well as ground reaction force variables with walking over the three steps. There were significant differences in gait velocity, knee angle at heel contact, vertical impulse and ankle angle at toe off in short distance.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• 한국운동역학회지
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• 제18권1호
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• pp.169-178
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• 2008

본 연구는 계단 보행 중 연속적인 두 스텝의 3차원적 지면반력 파라미터를 제공하고, 계단의 너비에 따른 지면 반력 파라미터의 차이 및 비대칭성과 일관성을 규명하는데 있다. 10명의 성인 대상자가 본 실험에 참여하였으며, 각 10번의 평지, 상향 및 하향보행을 3가지의 다른 너비의 계단에서 실시하였다. 본 연구를 수행한 결과 다음과 같은 결론을 얻었다. 첫째, 계단의 너비는 대부분의 지면반력 파라미터들의 패턴이나 일관성, 비대칭지수에 영향을 미치지 않았다. 둘째, 평지 보행과 계단보행은 지면반력 파라미터의 패턴에서 큰 차이를 보였다. 평지보행과 상향보행은 Fz1, Fz2, 그리고 Fz3로 구성되는 "M" 형태를 보인 반면에 하향보행에서는 Fz2가 거의 없고 큰 Fz1과 작은 Fz3로 구성된 패턴을 보였다. 또한 계단 보행은 평지보행과 매우 다른 전 후 지면반력 패턴을 보였다. 즉 상향보행은 Fy1이 존재하지 않는 패턴을, 하향보행은 Fy2가 존재하나 매우 작은 크기를 보였다. 셋째, 계단보행의 수직 지면반력 파라미터들은 적용가능한 일관성 지수 및 비대칭 지수를 나타내었다.

• 한국정보통신학회논문지
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• 제14권8호
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• pp.1901-1906
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• 2010

걸음걸이 패턴 분류는 많은 응용분야가 있을 뿐만 아니라 매우 중요한 연구 분야이다. 따라서 본 연구에서는 허리에 부착된 가속도 모듈로부터 획득된 신호를 이용하여 천천히 걷기(slow walking, S.W), 일반 걷기(normal walking, N.W), 빠르게 걷기(fast walking, F.W) 등의 보행 패턴을 분류하고자한다. 11명의 성인으로부터 블루트스 모듈을 이용하여 100Hz로 샘플링된 3축 가속도 신호를 획득하였다. 획득된 데이터는 웨이브렛 변환을 이용하여 분석하였다. 걸음걸이 패턴은 두가지의 파라미터들을 이용하여 분석되어지는데, 하나는 운동에 해당하는 웨이브렛 계수의 에너지(power)와 전 후방향의 전체 에너지사이의 비율(RPA)이고, 다른 파라미터는 전 후 방향과 상 하 수직 방향 사이에서 웨이브렛 계수의 제곱근 평균 비율(RAV)이다. 천천히 걷기는 다른 걷기와 비교했을 때 작은 RPA값을 가지게 되어 분류가 용이하며, 천천히 걷기는 RAV를 이용하여 일반 걷기와 구별되어 질 수 있었다. 따라서 본연구는 건강한 성인에게서 3축 가속도 신호를 획득한 후 웨이브렛 파라미터를 이용하여 걷기 패턴을 잘 구별할 수 있는 연구임을 확인 하였다.

• 대한의용생체공학회:의공학회지
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• 제18권1호
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• pp.71-78
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• 1997

Kinematic and kinetic studies were performed to investigate the walking characteristics on a treadmill with various slopes at the same speed of 1.25m/sec. Six different slopes of the treadmill were selected . -4%(-$2.3^{\circ}$), 0%($0^{\circ}$), 5%($2.9^{\circ}$), 10%($5.7^{\circ}$), 15%($8.6^{\circ}$), and 20%($11.3^{\circ}$). With increased slopes of the treadmill, both hip and knee flexion angles significantly increased at initial contact, and the maximum hip flexion during swing phase and the maximum knee flexion during stance phase also significantly increased Ankle dorsiflexion angle at initial contact and the maximum dorsiflexion increased with increased slopes. However, the maximum plantarflexion in early swing was slightly reduced with increased slopes. Hip extension in late stance and the maximum knee flexion in early swing was not changed sigilificantly with increased slopes. As for the vertical ground reaction force, compared to the yond level walking, both the first and the second peak forces increased, but the mid-support force decreased.

• 한국운동역학회지
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• 제25권4호
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• pp.393-399
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• 2015

Objective : This study was conducted with an aim to use it as basic data for developing assistive devices, such as insoles that can suppress the progress of degenerative diseases and strategies, to improve early degenerative diseases by assessing walking characteristics of farm workers who were classified as KL-grade in the perspective of motor mechanics. Method : 38 male and female adults who complained of knee joint pain for more than six months were selected, and they were classified according to KL-grade. KL-grade was assessed by an orthopaedic specialist and an occupational environment health specialist. Filming equipment (FX-1, CASIO, Japan) and a ground reaction force system (AMTI OR6, AMTI, USA) were used to identify ground reaction force characteristics, and WOMAC was used for a pain rating scale. Results : There was a difference between the right and left side (axis-X) according to KL-grade, and when the grade was higher, the internal ground reaction force was also higher. Changes in COP were not affected by KL-grade of the knee joint, but it tended to increase as the grade increased. There were differences in the time required for limb support while walking according to the grades, and when the grade was higher, walking was more inefficient with long braking force and short propulsion forces. Also, pain rating scale, the right and left side, and COP changes while in support phase were related. Conclusion : There was a partial, statically significant difference in KL-grade and ground reaction force occurring during the support phase, and there were differences in ground reaction forces according to the grades of degenerative arthritis in the knee joint, indicating that this study is worthy as basic data for future studies.

• Wind and Structures
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• 제15권5호
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• pp.369-383
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• 2012

Researchers have recently begun using high spatial resolution remote-sensing data, which are automatically captured and georeferenced, to assess damage following natural and man-made disasters, in addition to, or instead of employing the older methods of walking house-to-house for surveys, or photographing individual buildings from an airplane. This research establishes quantitative relationships between the damage states observed at ground-level, and those observed from space using high spatial resolution remote-sensing data, for windstorms, for individual site-built one- or two-family residences (FR12). "Degrees of Damage" (DOD) from the Enhanced Fujita (EF) Scale were determined for ground-based damage states; damage states were also assigned for remote-sensing imagery, using a modified version of Womble's Remote-Sensing (RS) Damage Scale. The preliminary developed model can be used to predict the ground-level damage state using remote-sensing imagery, which could significantly lessen the time and expense required to assess the damage following a windstorm.