• Journal of Haehwa Medicine
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• v.13 no.1
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• pp.61-69
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• 2004

I have come to next conclusions in consequence of documentary study about medical books of many generations regarding acupuncture and moxibustion therapy of arthalgia syndrome. 1. Jing point of regular channels is most used. Next there are extraordinary point, ashi point in the acupuncture and moxibustion therapy of arthalgia syndrome. 2. The gall baldder channel of foot-shaoyang is most used. Next there are the urinary bladder channel of foot-taiyang, the large intestine channel of hand-yangming, the stomach channel of foot-yangming, the small intestine channel of hand-taiyang, the spleen channel of foot-taiyin, the liver channel of foot-jueyin, the triple-warmer channel of hand-shaoyang, the du channel, the lung channel of hand-taiyin, the kidney channel of foot-shaoyin, the pericardium channel of hand-jueyin, the heart channel of hand-shaoyin, the ren channel in the order of frequency in used channel among the twelve channels. 3. Three yang channels of foot is most used. Next there are three yang channels of hand, three yin channels of hand, three yin channels of foot in the order of frequency in use among the twelve channels. 4. The gall baldder channel of foot-shaoyang is most used. Next there are the urinary bladder channel of foot-taiyang, the large intestine channel of hand-yangming, the triple-warmer channel of hand-shaoyang, the stomach channel of foot-yangming, the small intestine channel of hand-taiyang, the liver channel of foot-jueyin, the lung channel of hand-taiyin, the spleen channel of foot-taiyin, the kidney channel of foot-shaoyin, the du channel, the pericardium channel of hand-jueyin, the ren channel the heart channel of hand-shaoyin in the order of frequency in used point among the twelve channels. 5. Huantiao is most used. Next there are Weizhong, Quchi, Yangfu, Chize Feiyang Xiyangguan Xiguan Tianjing, Sanli Xiaoluo in the order of frequency in use. 6. Jing point in the order of frequency of use, expel wind-evil and remove wetness-evil on the Acupuncture and Moxibustion Therapy of Arthalgia Syndrome.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• Journal of Haehwa Medicine
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• v.14 no.1
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• pp.149-154
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• 2005

I have come to next conclusions in consequence of documentary study about medical books of many generations regarding Medical treatment with Acupuncture Point of Flank pain. The urinary bladder channel of foot-taiyang is most used. Next there are the ren channel, the gall baldder channel of foot-shaoyang, the liver channel of foot-jueyin, the triple-warmer channel of hand-shaoyang, the kidney channel of foot-shaoyin, the stomach channel of foot-yangming, the spleen channel of foot-taiyin, the pericardium channel of hand-jueyin, the lung channel of hand-taiyin, the small intestine channel of hand-taiyang, the large intestine channel of hand-yangming, the heart channel of hand-shaoyin in the order of frequency in used channel among the twelve channels. The liver channel of foot-jueyin is most used. The gall baldder channel of foot-shaoyang, the urinary bladder channel of foot-taiyang, the triple-warmer channel of hand-shaoyang, the spleen channel of foot-taiyin, the stomach channel of foot-yangming, the ren channel, the small intestine channel of hand-taiyang, the kidney channel of foot-shaoyin, the pericardium channel of hand-jueyin, the large intestine channel of hand-yangming, the lung channel of hand-taiyin, the heart channel of hand-shaoyin in the order of frequency in used point among the twelve channels.

• Journal of the Korean Society of Clothing and Textiles
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• v.10 no.2
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• pp.21-28
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• 1986

This paper is concerned with the mutual relationship among interpressure, last. foot within a new shoe and foot within a fifty-hour-used shoe at the standing posture at three different heel-heights 1. The interrelationship between the heel-heights and interpressure is very significant at the level of $0.1\%$. The heel-heights cause high interpressure at different parts of foot; heel point and big toe point in a 3 cm-heel shoe, big toe point and heel outside joint point in a 5 cm-heel shoe, and little toe point, heel-outside joint point, and arch point in a 7 cm-heel shoe. 2. Foot girth and foot width measurements either within a new shoe or within a fifty-hour-used shoe significant at the level of $5\%,\;1\%,\;0.1\%$ and show discrepancies at three different heel heights; the part between instep and ball joint in a 3 cm-heel shoe, toe part in a 5 cm-heel shoe, heel-inside joint. heel-outside joint and toe part in a 7 cm-heel shoe are highly influenced by heel heights. The higher the shoe-hee15 are, the more heavily the fore part of foot is pressured in lateral direction because shoe is made to have high instep from a fashion viewpoint. Higher shoe heels prevent weight pressure from being concentrated on heel. If shoe heels are toe high, people in such shoes feel easily tired. It is very worthy of note in selecting shoes to consider not only the shoe fashion but also fore shoe type, heel height, and shoe material with proper elasticity.

• Journal of Digital Contents Society
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• v.19 no.4
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• pp.815-819
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• 2018

In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.700-706
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• 2003

This paper presents a 3D last design system that provides the 3-dimensional last data based on the FFD(Free Form Deformation) method. The proposed system utilizes the control points for deformation factor to convert from the 3D point cloud foot data to the 3D point cloud last data. The deformation factor of the FFD is obtained from the conventional last design technique, and constructed on the FFD lattice based on the bottom view and lateral view of the measured 3D point cloud foot data. In addition, the control points of FFD lattice is decided on the anatomical points of foot. The deformed 3D last obtained from the proposed FFD is saved as a 3D dxf foot data. The experimental results demonstrate that the proposed system have the descent 3D last data based on the openGL window.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.47-55
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• 2009

In this study, a robot foot having toes for firm stepping on uneven surface is proposed. The toes are connected to the lower leg by parallel links so that the lower leg can rotate in the rolling and pitching directions during stance phase without ankle joint. The landing performance of the foot on uneven surface was evaluated by relative comparison with that of the most common foot making point contact with the walking surface, since the test conditions considering real uneven surface could be hardly defined for its objective evaluation. Anti-slip margin(ASM) was defined in this study to express the slip resistance of a robot foot when it lands on a projection with half circular-, triangular- or rectangular cross section, assuming that uneven surface consists of projections having these kind of cross sections in different sizes. Based on the ASM analysis, the slip conditions for the two feet were experimentally confirmed. The results showed that the slip resistance of the new foot is not only higher than that of the conventional point contact type foot but also less sensitive to the surface friction coefficient.

• CDE review
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• v.22 no.2
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• pp.6-10
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• 2016

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.368-373
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• 2003

This paper presents a cost-effective 3D foot scanner system that provides the 3-dimensional point cloud foot data to design the custom footwear. To measure the 3-dimensional point cloud data of the foot, a CCD camera, a Non-Gaussian laser line projector and optical triangulation method are employed. Furthermore, the integrated system employs a measurement base, a frame grabber, a CCD moving cart, a stepping motor and a computer. The measurement result is saved as 3D dxf format and it could be converted to 2D essential data fer a shoe design. The experimental results demonstrate that the proposed system have the decent resolution of 1mm which is enough for last and shoe design.