• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• Journal of KIISE:Computing Practices and Letters
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• v.12 no.6
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• pp.358-366
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• 2006

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF programmable foot platforms. When a human walks on the locomotion interface (LI), the walking motions of the human are recognized by several sensors. Then, the sensed information is used by the LI for generation of infinite surfaces for continuous walking and the virtual environments for scene update according to motions of the human walking. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation. A novel navigation algorithm is suggested to allow natural navigation in virtual environments by utilizing conditions of normal gait analysis. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. From experiments, the subjects were satisfied with the reality of the suggested navigation algorithm using the locomotion interface. Therefore, the suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• Journal of Biomedical Engineering Research
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• v.8 no.1
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• pp.49-56
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• 1987

This paper designed LOCOMOTION SYSTEM of a mobile robot for the blind guidance and LOCOMOTION COMMAND SYSTEM that gave the moving path to the locomotion system. This system analyzed COMMAND and calculated the speed and direction of the robot. And during locomotion it measured wheel's rotation number for the position and speed control. Also, this system was considered about the 110 interface with host computer and the locomotion method for the blind. In the locomotion experiment the standard speed of robot was 0.4m/sec and the locomotion error was below 5%

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• ETRI Journal
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• v.37 no.2
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• pp.406-416
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• 2015

Timing plays a key role in expressing the qualitative aspects of a character's motion; that is, conveying emotional state, personality, and character role, all potentially without changing spatial positions. Temporal editing of locomotion style is particularly difficult for a novice animator since observers are not well attuned to the sense of weight and energy displayed through motion timing; and the interface for adjusting timing is far less intuitive to use than that for adjusting pose. In this paper, we propose an editing system that effectively captures the timing variations in an example locomotion set and utilizes them for style transfer from one motion to another via both global and upper-body timing transfers. The global timing transfer focuses on matching the input motion to the body speed of the selected example motion, while the upper-body timing transfer propagates the sense of movement flow - succession - through the torso and arms. Our transfer process is based on key times detected from the example set and transferring the relative changes of angle rotation in the upper body joints from a timing source to an input target motion. We demonstrate that our approach is practical in an interactive application such that a set of short locomotion cycles can be applied to generate a longer sequence with continuously varied timings.

• Journal of the Korean Society of Visualization
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• v.12 no.2
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• pp.18-22
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• 2014

Caenorhabditis elegans (C. elegans) is an undulatory nematode which exhibits two distinct locomotion types of swimming and crawling. Although in its natural habitat C. elegans lives in a non-Newtonian fluidic environment, our current understanding has been limited to the behavior of C. elegans in a simple Newtonian fluid. Here, we present some experimental results on the penetrating behavior of C. elegans at the interface from liquid to solid environment. Once C. elegans, which otherwise swims freely in a liquid, makes a contact to the solid gel boundary, it begins to penetrate vertically to the surface by changing its stroke motion characterized by a stiffer body shape and a slow stroke frequency. The particle image velocimetry (PIV) analysis reveals the flow streamlines produced by the stroke of worm. For the worm that crawls on a solid surface, we utilize a technique of traction force microscopy (TFM) to find that the crawling nematode forms localized force islands along the body where makes direct contacts to the gel surface.

• Korean Journal of Computational Design and Engineering
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• v.18 no.4
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• pp.290-298
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• 2013

A walking navigation system (usually known as a locomotion interface) is an interactive platform which gives simulated walking sensation to users using sensed bipedal motion signals. This enables us to perform navigation tasks using only bipedal movement. Especially, it is useful for the certain VR task which emphasizes on physical human movement, or accompanies understanding of the size and complexity of building structures. In this work, we described system components of VR walking system and investigated several types of walking platform by literature survey. We adopted a MS Kinect depth sensor for the motion recognition and a treadmill which includes directional turning mechanism for the walking platform. Through the integration of these components with a VR navigation scenario, we developed a simple VR walking navigation system. Finally several technical issues were found during development process, and further research directions were suggested for the system improvement.

• Language and Information
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• v.3 no.1
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• pp.39-63
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• 1999

Korean manner-of-motion verbs have different characteristics from locomotion verbs syntactically and semantically, and they are aptly encoded as having the primitive semantic element MOVE, not GO of Jackendoff(1990)'s Conceptual Semantics framework. This point is shown on the basis of their behavior, the inability to take the Goal 'NP-lo' phrases, the Purposive 'S-le' clauses, the 'NP-ey' phrases, and the atelic interpretation. It is further shown that the apparent locomotion verb behavior of some manner-of-motion verbs, 'exocentric' phenomenon in their meaning composition, is merely a transferred aspect of manner-of-motion verbs. Three kinds of strategies, transformational, quasi-transformational, and lexical ones, are examined to describe this phenomenon, and the lexical one is determined to be the most appropriate. The remaining part of this paper pursues the possibility of adopting Tenny's(1987, 1994) 'Aspectual Interface Hypothesis' in establishing an argument linking system with special attention to 'measuring-out', but concludes that the hypothesis can be accepted only in a restricted part of verbs, and with a modified notion of measuring-out like Jackendoff's(1996).

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• Journal of Adhesion and Interface
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• v.5 no.2
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• pp.31-42
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• 2004

Many animals possess on their legs adhesive pads, which have undergone evolutionary optimization to be able to attach to variable substrates and to control adhesive forces during locomotion. Insect adhesive pads are either relatively smooth or densely covered with specialized adhesive hairs. Theoretical models predict that adhesion can be increased by splitting the contact zone into many microscopic, elastic subunits, which provides a functional explanation for the widespread 'hairy' design. In many hairy and all smooth attachment systems, the adhesive contact is mediated by a thin film of liquid secretion between the cuticle and the substrate. By using interference reflection microscopy (IRM), the thickness and viscosity of the secretion film was estimated in Weaver ants (Oecophylla smaragdina). 'Footprint' droplets deposited on glass are hydrophobic and form low contact angles. IRM of insect pads in contact showed that the adhesive liquid is an emulsion consisting of hydrophilic, volatile droplets dispersed in a persistent, hydrophobic phase. I tested predictions derived from film thickness and viscosity by measuring friction forces of Weaver ants on a smooth substrate. The measured friction forces were much greater than expected assuming a homogenous film between the pad and the surface. The findings indicate that the rubbery pad cuticle directly interacts with the substrate. To achieve intimate contact between the cuticle and the surface, secretion must drain away, which may be facilitated by microfolds on the surface of smooth insect pads. I propose a combined wet adhesion/rubber friction model of insect surface attachment that explains both the presence of a significant static friction component and the velocity-dependence of sliding friction.