• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

• 한국과학예술포럼
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• 제20권
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• pp.279-292
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• 2015

현대 사회가 고령화 사회가 되어감에 따라 노인 친화적 환경에 대한 관심과 요구도 커지고 있다. 우리의 생활환경을 노인 친화적으로 조성하기 위해서는 노인들이 어떤 건물이나 시설을 자주 이용하는지 그 이용정도를 파악하여 그 건물이나 시설을 우선적으로 노인 친화적이 되도록 하는 방안이 마련되어야 한다. 이에 본 연구는 노인들이 노인관련 근린생활시설을 어느 정도 자주 이용하고 있는지와 도보권에 위치하기를 원하는 노인관련 근린생활시설이 무엇인지를 파악하고자 하였다. 본 연구의 조사대상은 부산광역시에 거주하고 있는 65세 이상 노인 158명이며 설문지를 이용한 일대일 면담조사방법으로 진행하였다. 조사결과, 첫째, 노인들은 경로당이나 노인대학, 노인복지회관 등의 노인시설과 산책로 및 공원녹지시설의 이용빈도가 가장 높았으며 버스정류장과 재래시장 및 정자 등 휴게시설 이용빈도도 비교적 높았다. 또한 근린생활시설 중에는 이용빈도가 높지는 않지만 많은 노인들이 정기적으로 이용하는 시설들도 있었다. 둘째, 노인의 특성에 따라 금융시설, 의원/병원, 약국, 공중목욕탕, 이·미용실 등의 근린생활시설 이용빈도는 달랐다. 셋째, 25개의 근린생활시설 중 많은 노인들이 도보권 내에 위치하기를 바라는 시설은 의원/병원, 노인시설, 전철역, 버스정류장, 재래시장, 공원녹지, 산책로, 식료품점/편의점 등의 순이었다.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.879-888
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• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.

• 대한물리의학회지
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• 제12권1호
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• pp.83-91
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• 2017

PURPOSE: The purpose of this study was to investigate the effects of stretching and elastic band exercise on the knee space distance and plantar pressure distribution in people with genu varum. METHODS: The subjects of this study were students of a college who had genu varum of 14 subjects. The subjects were randomly divided into two groups as a stretching group (n=7, 4 males and 3 females, age: $20.14{\pm}2.54years$, height: $167.1{\pm}9.78cm$, weight: $58.6{\pm}10.13kg$) and a Thera-band group (n=7, 5 males and 2 females, age: $19.85{\pm}2.04years$, height: $166.5{\pm}5.82cm$, weight: $54.2{\pm}5.59kg$). The stretching and the There-band exercises were performed three times per a week, for four weeks. We measured changes in plantar pressure during walking, using a Gait Analyzer and distance of both knees at pre and post-intervention. RESULTS: These results suggest that the space distance of both knees showed differences before and after the intervention. The plantar pressure distribution was no changes in both groups before and after the intervention except for the left foot in a stretching group. CONCLUSION: As a result, the space distance of knees in both groups was significantly reduced. These result suggested that the Thera-band and stretching exercises were effective ways in alleviating genu varum.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 추계종합학술대회 논문집(4)
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• pp.123-126
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• 2000

In this paper, the portable game machine called W"alking Beat" is designed and implemented not only to propose the new possibilities for the peripheral equipment market of portable acoustic machine but also to overcome the limitation of the acoustic simulation game machine such as the existing Beat Mania. The old game machine can be used only in a particular place, where it is installed. However, in order to get over the constraint on this space problem "Walking Beat Game Machine" is designed to facilitate the portability. In addition, the frequency analysis method using FFT algorithm is employed by regarding the music data for the portable digital acoustic machine as source so that the limitation that the existing game machine depends heavily on the previously registered game contents can be overcome. By making it possible to play games for all the music and putting an emphasis on multimedia trend only to listen to the music, it is speculated that it can contribute to the development of the new culture in the near future.

• 한국실내디자인학회논문집
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• 제27권2호
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• pp.166-174
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• 2018

This study examined the indoor exercise environment use and needs of older adults. The target population was seniors aged 60 years and older living in a newly developed apartment complex. Variables include demographic and housing characteristics, status of exercise, and indoor exercise environmental evaluation and needs. A total of 102 data items were analyzed using frequency, t-test and ANOVA. Noteworthy results are as below. First, community centers and community welfare centers were the most desirable exercise environments because of affordability, exercise programs/spaces. Such exercise environments should be developed in more locations for increasing numbers of seniors. Second, indoor exercise environments need to be improved based on seniors' physical capabilities and environmental behavior. Third, supportive spaces such as restrooms, shower rooms, locker rooms should be carefully designed. Fourth, seniors wanted to have walking trails and indoor swimming pools, the most desirable exercise spaces, within ten to 15 minutes walking distance.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1009-1018
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• 2003

In a park or street, we can see many people Jogging or walking with their dogs chasing their masters. In the previous study, an entertainment robot, CARTRI that imitates the dog's behavior was created. The robot's task was chasing a moving goal that was recognized as the master. The physical structure of the CARTRI robot was three-wheel type locomotion system. The sensor system which could detect the position of the master in the outdoor space, was consists of a signal transmitter which was held by the master and five ultrasonic receivers which were mounted on the robot. In the experiment, the robot could chase a human walking in outdoor space like a park. But it could not avoid obstacles and its behavior was only goal-chasing behavior because of the limit of the sensor system. In this study, an improved RF-ultrasonic sensor system which can detect both goal and obstacle is developed in order to enable the CARTRI robot to carry out various behavior. The sensor system has increased angle resolution by using eight ultrasonic receivers instead of five in the previous study. And it can detect obstacle by using reflective type ultrasonic sensors. The sensor system is designed so that detection of goal and obstacle could be conducted in one sampling period. The Performance of the developed sensor system is evaluated through experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.648-651
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• 2004

Biped robot has better mobility than other mobile robot, but it is hard to maintain balance during walking. In order to maintain balance, stability analysis is a key point for a biped robot. The zero moment point analysis has been used most in stability analysis. In this paper, we propose different method of stability analysis using wrench system. It is possible to generate a wrench system by applying a force along an axis in space and simultaneously applying a moment about the same axis. Wrench system is equivalent to a force and moment applied along the same axis. We compare the result of wrench system analysis with that of zero moment analysis in biped robot stability using simulation program.

• 디자인학연구
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• 제16권2호
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• pp.311-322
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• 2003

이번 연구에서는 많은 사람들이 모여서 복잡하고 보행이 힘든 번화가의 가로에 넓은 보행공간을 확보하여 보행이 쾌적한 가로로 디자인하는 방법을 연구 하였다. 가로에 그 지역의 특징이 되는 이미지나 지역문화를 부여하고 자연 친화적 인 오픈 스페이스로서의 보행공간화 하는 디자인을 중점적으로 연구하여 쾌적하고 개성적인 가로경관을 형성하려고 하였다. 환경적인 경관측면에서 나타나는 가로경관의 요소인 물리적 인자와 심리적 인자의 상관관계에서 얻어진 결과를 보행공간 디자인의 기본개념으로 설정하였다. 특히 지역의 이미지를 찾아내기 어려운 지역의 가로공간을 어떻게 하면 개성적이면서 보행자를 위한 오픈 스페이스로 디자인할 것인가를 사례지역의 가로경관 요소의 분석과 기존 사례들과의 비교를 통하여 그 방법을 찾고자 하였다.

• 한국조경학회지
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• 제18권4호
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• pp.127-140
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• 1991

The Primary purpose of this study is to investigate factors and variables which have significant effects on user satisfaction with recreational facilities in Taejong-Dae recreational complex, thereby establishing indices of planning and development of urban parks and open space. To test the causal models of this research, the date were gathered by self-administered questionnaires from 967 households in Pusan City which were selected by the multi-stage probability sampling methood. The analysis of the multi-stage primarily consists of two phase : The first analysis dealt exploratory factor analysis which identified major factors involved in satisfaction with recreational activities and facilities in Taejong-Dae recreational complex and the second analysis tested the fit of the causal models of this research by employing LISREL methodology. There are three advantages of using LISREL over other multivariate analysis methods : First, measurement error is allowed and calculated in LISREL, otherwise there is a risk of seriously misleading estimates of coefficients ; Second, LISREL deals with latent variables or unmeasured variables ; Third, it enables to test causal relations among variables. The factors analysis identified that five factors are involved in satisfaction with recreational facilities. The five factors of satisfaction with recreational facilities are space for repose and relaxation, active recreation facilities such as pool and zoo, physical exercise facility, convenience and maintenance facility, and linear facility, and linear facility for walking. The second phase analysis tested the fit of the causal models for satisfaction with recreational facilities to the data and identified statistically significant causal linkage among overall satisfaction with Taejong-Dae recreational complex, other endogenous factors and exogenous variables. Overall fits of both causal models were very good. Among endogenous factors, facility for repose and relaxation. linear facility for walking, active recreation facility, facility for convenience and maintenance were identified as having significant effects on overall satisfaction. Exogenous variables which have significant effects on endogenous variables wer also identified. These significant relationships indicate important factors and variables that should be considered in planning and development of the recreational complex. On the basis of these significant causal relationships, implications for planning and the delovepment of Taejong-Dae recreational complex were suggested.