• Journal of Korea Multimedia Society
• /
• v.20 no.2
• /
• pp.344-351
• /
• 2017

In this paper, we propose the obstacle database management module for obstacle estimation and clustering. The proposed G-eye manager system can create customized walking route for blind people using the UI manager and verify the coordinates of the path. Especially, G-eye management system designed a regional information module. The regional information module can improve the loading speed of the obstacle data by classifying the local information by clustering the coordinates of the obstacle. In this paper, we evaluate the reliability of the walking route generated from the obstacle map. We obtain the coordinate value of the path avoiding the virtual obstacle from the proposed system and analyze the error rate of the path avoiding the obstacle according to the size of the obstacle. And we analyze the correlation between obstacle size and route by classifying virtual obstacles into sizes.

• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.894-899
• /
• 2008

Measured sensor datum from a quadruped robotics is commonly used for recognizing physical environment information which controls the posture of robotics. We can advance the ambulation with this sensed information and need to synthesize various sensors for obtaining accurate data, but most of these sensors are expensive and require excessive load for the operation. Those defects can be serious problem when it comes to the prototype's practicality and mass production, and maintenance of the system. This paper suggests virtual sensor technology for avoiding previous defects and presents ways to apply a theory to a walking robotics through virtual sensor information which is trained with several kinds of actual sensor information from the prototype system; the general algorithm is initially based on the neural network theory of back propagation. In specific, we verified a possibility of replacing the virtual sensor with the actual one through a reaction force measurement experiment.

• The Journal of the Korea Contents Association
• /
• v.12 no.8
• /
• pp.274-282
• /
• 2012

This study conducted the following experiment to examine change of physicopsychological function on lumbar stabilization exercise(LSE) and virtual reality game training(Nintendo Wii Sport-NWS) to stroke patients subject for fall prevention. Psychological function was measured by falls efficacy with stroke patients and physical function was measured by static and dynamic balance on comparative analysis of pre, post exercise and each groups in 30 stroke patient subject. Static balance was measured by BBS, FRT, dynamic were measured by TUG, 10m walking test and falls efficacy with stroke patients was measured index of falls efficacy. These result lead us to the conclusion that each group were statistically improved at all physicopsychological test, but BBS, FRT, 10m walking test were more statistically improved at LSE group and falls efficacy with stroke patients were more improved at virtual reality game training group. Consequently, virtual reality game training would be lead to positive increment of physicopsychological function on stroke patient.

• Journal of Korea Multimedia Society
• /
• v.15 no.6
• /
• pp.827-836
• /
• 2012

After successful advent of Microsoft's Kinect, many interactive contents that control user's 3D avatar motions in realtime have been created. However, due to the Kinect's intrinsic IR projection problem, users are restricted to face the sensor directly forward and to perform all motions in a standing-still position. These constraints are main reasons that make it almost impossible for the 3D character to navigate the virtual environment, which is one of the most required functionalities in games. This paper proposes a new method that makes 3D character navigate the virtual environment with highly realistic motions. First, in order to find out the user's intention of navigating the virtual environment, the method recognizes walking-in-place motion. Second, the algorithm applies the motion splicing technique which segments the upper and the lower motions of character automatically and then switches the lower motion with pre-processed motion capture data naturally. Since the proposed algorithm can synthesize realistic lower-body walking motion while using motion capture data as well as capturing upper body motion on-line puppetry manner, it allows the 3D character to navigate the virtual environment realistically.

• The Research Journal of the Costume Culture
• /
• v.22 no.4
• /
• pp.605-618
• /
• 2014

This study aims to compare the ease of men's slim pants patterns, and to analyze the fit and appearance through the 3D virtual garment system. The study selected four educational materials and one industrial pattern of slim pants for a total of five items. The CLO 3D Modelist program was utilized to carry out the appearance evaluation through virtual wearing and opacity, and a comparison was performed regarding the clothing pressure when the virtual model was standing and walking. The results of our comparison of the patternmaking for slim pants showed that pattern C pants had the greatest ease on the waist circumference, while B pants showed no ease. The C and E pants also had the most ease on the hip measurement. In the appearance evaluation, A pants received the most favorable results, followed by D, E, B, and C, in descending order. The clothing pressure appeared to be mainly red on the waist, crotch, and hem when standing in all pants, so the clothing pressure was high. While walking, the stress appeared to be different for the left and right parts of the body, and the most significant difference was observed on the thigh area.

• Journal of The Korean Society of Integrative Medicine
• /
• v.11 no.2
• /
• pp.221-230
• /
• 2023

Purpose : This study was performed to evaluate the effects of virtual reality combined robot assist gait training (VRG) on improvement of balance and respiratory function in chronic stroke patients. Methods : A single-blind, randomized controlled trial (RCT) was conducted with 35 chronic stroke patients. They were randomly allocated 2 groups; VRG group (n=18) and conservative treatment group (CG; n=17). The VRG group received 30 minutes robot assisted gait training combined virtual reality training, robot assisted gait training was conducted in parallel using a virtual reality device (2 sessions of 15 minutes in a 3D-recorded walking environment and 15 minutes in a downtown walking environment). In the conservative treatment group, neurodevelopmental therapy and exercise therapy were performed according to the function of stroke patients. Each group performed 30 minutes a day 3 times a week for 8 weeks. The primary outcome balance and respiratory function were measured by a balance measurement system (BioRescue, Marseille, France), Berg balance scale, functional reach test for balance, Spirometry (Cosmed Micro Quark, Cosmed, Italy) for respiratory function Forced vital capacity (FVC), forced expiratory volume in 1 second (FEV₁), and maximum expiratory volume (PEF) were measured according to the protocol. The measurement were performed before and after the 8 weeks intervention period. Results : Both groups demonstrated significant improvement of outcome in balance and respiratory function during intervention period. VRG revealed significant differences in balance and respiratory function as compared to the CG groups (p<.05). Our results showed that VRG was more effective on balance and respiratory function in patients with chronic stroke. Conclusion : Our findings indicate that VRG can improve balance and respiratory function, highlight the benefits of VRG. This study will be able to be used as an intervention data for recovering balance and respiratory function in chronic stroke patients.

• Journal of Fashion Business
• /
• v.19 no.3
• /
• pp.130-143
• /
• 2015

By studying 3-D virtual human modeling, motion-capturing and clothing simulation for easier and safer work clothes development, this research aimed (1) to categorize heavy manufacturing work motions; (2) to generate a 3-D virtual male model and establish painting work motions within a 3-D virtual clothing simulation system through computerized body scanning and motion-capturing; and finally (3) to suggest simulated clothing images of painting work clothes developed based on virtual male avatar body measurements by implementing the work motions defined in the 3-D virtual clothing simulation system. For this, a male subject's body was 3-D scanned and also directly measured. The procedures to edit a 3-D virtual model required the total body shape to be 3-D scanned into a digital format, which was revised using 3-D Studio MAX and Maya rendering tools. In addition, heavy industry workers' work motions were observed and recorded by video camera at manufacturing sites and analyzed to categorize the painting work motions. This analysis resulted in 4 categories of motions: standing, bending, kneeling and walking. Besides, each work motion category was divided into more detailed motions according to sub-work posture factors: arm angle, arm direction, elbow bending angle, waist bending angle, waist bending direction and knee bending angle. Finally, the implementation of the painting work motions within the 3-D clothing simulation system presented the virtual painting work clothes images simulated in a dynamic mode.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.3
• /
• pp.238-243
• /
• 2013

This paper analyzes a virtual work of the knee and hip joints of bipedal walking robots. For the purpose, we consider a model of bipedal leg mechanism with a compliant foot and a typical walking pattern. We also check the torque characteristics at the joint space propagated from the space of the foot contacting a flat and stiff surface, and present the works accumulated at the joint space. As a result, it is shown that this analysis is useful for evaluating the fatigue of the leg mechanism by the physical walking contact between the foot and the surface, and it is applicable for improving the compliant characteristics at the foot space by employing a proper footgear.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2005.05a
• /
• pp.559-562
• /
• 2005

When we analyze dynamics of a multi body system, a compliance of joints must be considered. If the virtual model for CAE(computer adied engineering) analysis is not considered compliance, the result of CAE analysis will be very different from the actual result. Especially in a biped walking robot, a compliance can be caused in joints of a walking robot, and the robot may lose walking stability. This paper proposes a compliance modeling method and the effectiveness of the compliance model is verified through experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.315-318
• /
• 1995

In this paper, an optimal trunk trajectory for stable walking of biped robots is expressed as a simple differential equation, which is then solved by numerical methods. We used ZMP (Zero Moment Point), the virtual total ground reaction point within the region of the supporting food, as the criterion of stability of biped robot walking. If the ZMP is located outside of the stable region in dynamic walking, biped robots fall down. The biped robot considered in this paper consists of two legs and a trunk. The trajectories of the two legs and the ZMP of the biped robot are determined such that they are similar ti those of a human. Based upon those trajectories, the trunk trajectory is solved by numerically integrating differential dynamic equations. Leg motions are controlled by the computed torque control method. The effectiveness of control algorithm as well as the trajectories is confirmed by computer simulations.