• Journal of Computational Design and Engineering
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• v.3 no.3
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• pp.250-265
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• 2016

Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only "as-planned" situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with "as-is" environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.59-64
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• 2005

In the paper, we propose an intelligent walking algorithm of biped robot on the uneven ground and a posture stabilization algorithm against external forces. At first, the mechanics and the control system of biped robot that can walk on the uneven ground and stand external forces are designed. We propose obstacle hurdling, incline walking. and going-up stairs algorithm by using infrared sensors and FSR sensors. Also, posture stabilization algorithm against external forces is designed using FSR sensors. Infrared sensors ate used to detect the obstacles in the working environment and FSR sensors are used to obtain the ZMP of biped robot. The developed biped robot can be controlled by the remote control system using vision system and RF module. The experimental results show that the biped robot Performs obstacle avoidance, obstacle hurdling, walking on the inclined plane, and going up stairs using the proposed walking and stabilization algorithm.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.84-85
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• 1998

This study was conducted to characterize the gait of a person climbing or descending the stairs. Using our motion analysis system (Vicon 370), gait patterns of ten healthy females (18.8 - 19.6 yrs. old) were measured 1) when a subject tip-toed the stairs, 2) when a subject climbs the stairs with the whole foot, and 3) when a subject went down the stair, respectively. The results of each cases were compared with the data for the level walking collected from 21 healthy females in the previous studies. The stairway gait data can be used as a useful reference in the design of artificial limbs for the lower-limb amputee.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

• Physical Therapy Korea
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• v.20 no.1
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• pp.18-27
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• 2013

The purpose of this study was to compare the ring lock type knee-ankle-foot orthosis (KAFO) with newly developed 4-bar linkage KAFO on the gait characteristics of persons with poliomyelitis clinically. This 4-bar linkage is the stance control type KAFO which provide the stability during stance phase and knee flexion during swing phase. Two subjects participated in this study voluntarily. We provided the customized 4-bar linkage KAFO then asked the subjects to walk in level surface and stairs under the two different KAFO conditions. The characteristics of gait in the persons with poliomyelitis were evaluated using a 3D motion analysis system and force plate. Additionally 6 minute walk test for physiological cost index were conducted using pulse oximeter to measure the energy consumption. In the results of this study, the differences of 4-bar linkage KAFO compared with ring lock type KAFO are as follows: (1) Walking speed, stride length, and step length on level increased in subjects, (2) The gait symmetry was improved by generated knee flexion and decreased pelvic external rotation on level and stairs walking, (3) Decreased vertical excursion of center of mass and pelvic elevation during swing phase was decreased on level, (4) Knee extension moment, hip flexion moment, hip and knee internal rotation moment of non-braced limb were decreased on level walking, (5) Walking speed in 6-minute walk test was increased and physiological cost index was decreased. These findings indicate that 4-bar linkage KAFO compared with ring lock type KAFO is effective in enhancing pattern, endurance, and energy consumption in level surface and stairs walking.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1059-1060
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• 2008

In this paper, using a genetic algorithm, consisting of six to seven degrees of freedom links, walking robot to up-stair that can walk to optimize energy and stability to generate. Walking robot to up-stairs of the four-step segmentation of the various situations that match the pace and pattern so that it can generate. It also generated using genetic algorithms to test for Matlab into the Robot Simulation of the humanoid experiment was used.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.161-169
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• 2008

The purpose of this study was to investigate kinetic variables of the lower extremity during walking on three different stair widths in healthy adults. Ten healthy college-aged adults($23.5{\pm}3.5$) recruited for this study. Each stairs with the same height and length(l8cm and 90cm) under the Korean Constructional Law but three different widths(26cm, 31cm and 36cm) were conducted for this study. One force plate(9286AA, Kistler Co.) was put on third stairs. One-way ANOVA was performed to find the stair width effects during stair walking and the following findings ware obtained. There was significantly decreased in ankle resultant joint moment at Pull-Up phase(p<.05) and, significantly increased in knee extension moment during mid-stance phase as stair width increase(p<.05), but there was no significance in ankle resultant joint moment was found at Forward Continuance Phase in Ascending Stair Walking and There was significantly increased in ankle resultant joint moment as stair width increase during mid-stance phase(p<.05) and no significance in knee and hip resultant moments among the stair width in descending stair walking.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.913-920
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• 2000

The hall and the projection room of the multiplex cinema being constructed on the sixth and seventh floors at Jeonpo-dong market, Pusan, is composed of structural beams and decks considering the structures self weight problem, and the following problems are expected: - Vibration and noise generated on the floors by moving audiences may annoy the audiences in the other hall - Vibration and noise generate on the floor of the nearby hall as the audiences walk through the alley near the projection room - Vibration and noise generate on the floor of the hall nearby the projection room as the film drops This study measured and reviewed the vibration amount of the seven representative transferring routes that were selected for the halls and the alley near the projection room. Based on the analysis, the model hall was constructed and the vibration in the hall was estimated after cutting the deck. Also, this study constructed the steel stairs and investigated the vibration transferring characteristics to decide whether to construct the steel stairs in the building. Finally, the results were evaluated by actually using the stairs and reviewed the appropriateness of the measurement.

• PNF and Movement
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• v.8 no.2
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• pp.57-67
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• 2010

Background and Purpose : Many Physical therapist are inclined to communicate less effectively each other because they hardly use the standard terminology. The purposes of this case report are (1) to apply ICF-based documentation in evaluation (2) to submit the strategy of intervention process to improve the ability of walking short distance of the client who has post-stroke. Description : The client was 44-years-old man with hemiplegia who was in 1 month post-stroke problems were diagnosed while applying the ICF core set. The goals agreed with client were independently walking short distance, stairs and obstacles. To come up with the intervention strategy, hypothesis was set and 4 weeks of intervention was carried out after proposing the short goal and detailed purpose. Outcome : The client's performance in walking short distance and confidence were increased after impairment focused intervention, that are improved in walking velocity, endurance, supporting ability in lower limbs, rhythmical movement in upper limbs and the coordination of both limbs. Activities focused intervention also enhanced the ability in climbing steps and walking around obstacles. Conclusion : The decided hypothesis and goal that are to solve the problems the client faced were remarkably meaningful.

• The Journal of Korea Robotics Society
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• v.18 no.2
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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.