• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.567-572
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• 2004

In this research, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• 정보처리학회논문지B
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• 제12B권2호
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• pp.157-166
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• 2005

3차원 가상현실 내에서 캐릭터 움직임 동작의 기술은 기존 방식인 키프레임 기법에 의존하던 것이 점차 동작 제어 기법을 활용하고, 보다 사실적이고 자연스러운 움직임을 생성해 내고자 하는 방향으로 발전해 가고 있다. 그러나 이러한 동작 제어 기법을 통해 가상현실의 지형 성질에 따라 적응적인 캐릭터의 동작을 표현하는데 한계가 있다. 즉, 대부분의 가상환경에서 캐릭터의 걷는 움직임은 일정하고 단조로운 동작만을 반복하여 표현하고 있어 관찰자로 하여금 지루함을 느끼게 하고, 지형의 조건이나 형태에 맞지않게 캐릭터의 발끝이 지면에 스며들거나 떠있는 등의 부자연스러운 동작으로 인해 사실감을 저하시킨다. 본 논문에서는 적은 매개변수들과 역운동학 방법을 적용하여 기본 걷기 동작을 표현하고, 지면의 성질을 마찰계수로 대표시켜 지면에 적응적인 걷기 동작의 생성 방법을 제안한다. 제안된 방법에서는 구심력과 마찰계수를 결합한 후, 이를 근거로하여 한 주기 동안의 걷는 동작을 분석하고 이를 기반으로 동작에 필요한 매개변수를 조정하여 지질에 따른 적응적인 캐릭터의 걷기 동작을 생성한다.

• 대한지리학회지
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• 제48권5호
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• pp.728-749
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• 2013

박물관화라고 할 때, 그것은 흔히 가짜 역사, 장소상실 혹은 모조품의 의미로 접근되어왔다. 하지만 본 연구는 도시 속 걷기라는 육체적-공간적 수행과 도시 공간의 박물관화의 관계를 탐구하고자 한다. 이를 위해 먼저 육체적-공간적 수행으로서 걷기에 관한 이론적 논의를 검토한다. 그런 다음 대구 근대골목투어의 사례를 통해 특히 그 투어 지도에 초점을 두면서, 걷기라는 육체적 수행이 그 투어의 도시 공간을 어떻게 박물관화된 공간으로 구성하는지를 살펴본다. 마지막으로 투어 참여자들의 블로그와 여타의 웹사이트를 또 다른 수행적 공간으로 보면서, 걷기라는 육체적 실천이 투어의 담론과 공간을 현실 공간뿐만 아니라 가상 공간에서 어떻게 재생산하는지를 조사한다. 본 연구는 도시 공간에 내재된 이질적이고 다중적인 시공간의 미묘한 결합체를 박물관 공간의 절대적이고 선형적인 시공간 질서와는 다른 속성으로서 제시한다.

• The Journal of Korean Physical Therapy
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• 제32권3호
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• pp.185-190
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• 2020

Purpose: Gait and cognitive impairment in stroke patients exacerbate fall risk and mobility difficulties during multi-task walking. Virtual reality can provide interesting and challenging training in a community setting. This study evaluated the effect of community-based virtual reality gait training (VRGT) using a 360-degree image on the gait ability of chronic stroke patients. Methods: Forty-five chronic stroke patients who were admitted to a rehabilitation hospital participated in this study. Patients meeting the selection criteria were randomly divided into a VRGT group (n=23) and a control group (n=22). Both these groups received general rehabilitation. The VRGT group was evaluated using a 360-degree image that was recorded for 50 minutes a day, 5 days per week for a total of 6 weeks after their training. The control group received general treadmill training for the same amount of time as that of the VRGT group. The improvement in the spatiotemporal parameters of gait was evaluated using a gait analyzer system before and after training. Results: The spatiotemporal gait parameters showed significant improvements in both groups compare with the baseline measurements (p<0.05), and the VRGT group showed more improvement than the control group (p<0.05). Conclusion: Community-based VRGT has been shown to improve the walking ability of chronic stroke patients and is expected to be used in rehabilitation of stroke patients in the future.

• 한방재활의학과학회지
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• 제21권2호
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• pp.227-238
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• 2011

Objectives : This study was to investigate the effects on using Virtual reality exercise program($Wii-Fit^{TM}$) for dynamic balance and walking ability in patients with stroke. Methods : The 22 subjects were randomly selected from the patients of the S hospital who met the study conditions. They were divided into a $Wii-Fit^{TM}$ balance game group of 12 patients and a conventional physical therapy group of 10 patients. The $Wii-Fit^{TM}$ balance game group received $Wii-Fit^{TM}$ balance game group general physiotherapy for 5 days a weeks, 30 minutes a day, for a 4 weeks and the conventional physical therapy group received general physiotherapy for the same period. The subjects were measured and compared for Brunel balance assessment, functional gait assessment, 6 minute walk test, GAITRite system before and after the program. Results : The experimental group tend to improve more than control group in shifting the weight to the affected side(p=0.040) and tap test(p<0.001). The experimental group tend to improve more than control group in FGA(p=0.016). The experimental group improved significantly more than control group in 6MWT(p=0.008). The experimental group improved significantly more than control group in gait speed, cadence, stride length. Conclusions : Virtual Reality program($Wii-Fit^{TM}$) with conventional physical therapy shows the benefits on dynamic balance and gait parameters in patients with stroke.

• Journal of Electrical Engineering and Technology
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• 제11권3호
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• 대한기계학회논문집
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• 제14권6호
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• 로봇학회논문지
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• 제15권4호
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.

• 대한물리치료과학회지
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• 제28권3호
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• pp.11-29
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• 2021

Background: The purpose of this study is to investigate the effects of virtual reality on gait, balance, and upper extremity functions compared to other independent variables or no variables. Additionally, the possibility of virtual reality for stroke patients was discussed. Design: Meta-analysis. Methods: The search for this study was a search term that combined stroke, virtual reality, and training, and the electronic search was conducted through EMBASE, MEDLINE, and Cochrane Library. As a result of the search, 21 studies satisfying the selection criteria of the target study were confirmed as the final analysis target. This study consisted of 21 randomized experimental studies and 21 randomized controlled trials, and the total number of participants was 642. [Experimental group (n=314), control group (n=328); total 642]. As a result of the study, upper extremity function was assessed using a box and block test, a modified Ashworth scale, and a scale including range of motion. The balance was evaluated by the berg balance scale. Gait was a Timed Up and Go test (TUG), stride length, and gait function. Scales including a walking rate scale were evaluated. The effect size for the intervention of the analytical study was meta-analyzed with the RevMan 5.3.3 program of the Cochrane library. Results: The results of the study showed that the function of walking was statistically significant. Balance showed statistically significant results. The upper extremity function showed no statistically significant results. Conclusion: Through this rehabilitation treatment by applying virtual reality environment to the rehabilitation of stroke patients in the future can be proposed as an effective intervention method for the balance and gait function of stroke patients.