• 제어로봇시스템학회논문지
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• 제7권5호
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• 대한간호학회지
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• 제31권3호
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• pp.454-466
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• 2001

Purpose: The purpose of this study was to determine the effects of exercise program on cardiopulmonary functions and shoulder joint functioning in breast cancer patients who under- went radiation therapy after surgery. Method: Subjects in the experimental group(N=12) participated in an exercise program for eight weeks. The Exercise program consisted of shoulder stretching, arm weight training, and walking on treadmill. Maximal oxygen uptake (v2max), maximal running time, shoulder joint range of motion, and shoulder functional assessment were determined before and after the exercise program. Baseline sociodemographic and medical data were compared between experimental group and control group using the Fisher's exact test and Mann- Whitney U test. For effects of the exercise program, repeated measures ANOVA were used. Result: 1) Following the exercise program for eight weeks, both v$\alpha$ max and maximal running time tended to increase in experimental group comparing with the control group. 2) Shoulder abduction, extension and flexion of the operated upper extremity in the experimental group comparing with control significantly increased after the exercise program(p<0.05). 3) Shoulder flexion of the normal upper extremity in the experimental group comparing with control significantly increased after the exercise program(p<0.05). Conclusion: The results suggest that the exercise program for breast cancer patients undergoing radiation therapy after breast surgery can improve shoulder functions and increase cardiopulmonary functions, which are maximal oxygen uptake and maximal running time.

• 대한물리치료과학회지
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• 제26권3호
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• pp.70-75
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• 2019

Purpose: The purpose of this study was to investigate the changes of static and dynamic balance control ability according to the stability of shoes in elderly woman and female university student. Design: Cross-sectional study. Methods: Six elderly women and seven female university students were recruited for this study. The subject's static and dynamic balance were evaluated while wearing two different types of shoes (comfortable running shoe and masai walking shoe). The BT4 system was used to measure the static (postural sway area and velocity) and dynamic balance (limit of stability on forward, backward and left and right side). The measurement of static and dynamic balance control ability was performed in standing posture wearing comfortable running shoes and masai walking shoes. Results: In the static balance control ability, both female university students and elderly women showed significant increase in postural sway area and velocity when wearing unstable shoes (p<0.05) In addition, in the dynamic balance control ability, both female university students and elderly women showed significant decrease in limit of stability on forward and backward when wearing unstable shoes (p<0.05). Conclusion: In selecting shoes for the elderly, the stability of shoe should be considered for prevention of falls.

• 한국산업경영시스템학회:학술대회논문집
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• 한국산업경영시스템학회 2002년도 춘계학술대회
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• pp.291-296
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• 2002

The midsole hardness of athletic footwear affects capability of absorbing impact shock and controls rearfoot movement during running and walking. The prior studies were focused on examining the proper hardness of footwear for rearfoot movement or to finding effective hardness for absorbing impact shock. The displacements of maximal Achilles tendon angle described a amount of pronation motion is decreased when medial hardness of midsole is large more than lateral. Increasing hardness of footwear midsole are effected to reduce maximum and intial pronation angle, but declined the ability of impact shock during heelstrike. For determination of effectiveness hardness of midsole, therefore, the study that makes a compromise between rearfoot movement and absorbing impact during footstrike must be performed. The purpose of this study is to examine quantitative values of rearfoot control and absorbing impact shock with different hardness of medial and lateral midsole on heel portion. The results are useful to define biomechanical hardness of midsole for developing running shoes. As variable for impact shock, accelerations onto shank and knee are measured during 4 running speeds (5, 7, 9, 11km/h). Also, maximum and $10\%$ pronation angle (Achilles tendon angle) were measured using high-speed camera.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.107.4-107
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• 2002

One of the most important functions of a biped robot is to walk naturally like human. For the human being, toe is very important joint in order to walk naturally. Thus, for a biped robot, the existence of toe joint much affects gait pattern generation and contributes to natural walking, which is similar to the human gait or faster walking like running. Since a conventional biped robot has the feet which consist of soles without toes, it seems difficult to walk naturally. For realizing the gait to be similar to human one, toes are necessary to the biped robot. In this paper, the effect of the toe joint for gait pattern generation is studied. In order to find the effect of toe joint, a biped r...

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.870-875
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• 2008

The main objective of this paper is to control a trajectory tracking of the fish-mimetic robot by CPG (Central Pattern Generator), which is biological approach. CPG is biological neural networks that generate rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Animals show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environment or various environments. So, we propose the 3-DOF CPG controller to track the trajectory of the fish robot in plane motion. The conformity of the proposed control algorithm is validated by simulation for a fish robot model, which is made by a commercial dynamic package.

• 한국의류산업학회지
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• 제13권6호
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• pp.943-951
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• 2011

The purpose of this study is to analyze the physiological effects of non-elastic corset on women's health and pain through measuring the clothing pressure, subjective pressure sensation, blood velocity and metabolism. 5 women in their twenties were picked as our subjects, their average size being 85cm at bust girth, 69 cm at waist girth. With the subjects each wearing a corset, we are testing in artificial environment with a treadmill according to the planned exercise procedures. The average pressure of the corset is 0.938 kPa (maximum 3.006 kPa at 45 degree front bowing), which is 10.2 times higher than the control group, averaging from 9.3 times higher at resting, 11.4 times at walking, 11.1 times at running. The effect of corset pressure on the physiological responses of the body is increased more when exercise than when resting. Clothing pressure increased in the order of the postures: sitting > standing with 45 degree bowing > standing. They experienced a high level of tighten discomfort of 5.6 in the scale of 1.0 to 7.0 due to the high pressure of the corset when resting, after intense exercise the level increased to 6.0, while without corset the level increased 1.7 to 2.2. With corset on, the blood circulation did not increase even though when the body exercised and blood flow became unbalanced making great gaps between both at the right and left finger tips. Perspiration of chest and back decreased 37.3% when wearing corset; 27.5% at resting, 56.7% at walking, 25.8% at running, and 39.0% at recovery. With corset on oxygen consume and metabolism increased 9.0%, 7.9%, respectively, which means the corset makes the body uncomfortable. Lung volume exchange VE decreased almost 4.1~7.3% with corset on and $VCO_2/VO_2$, RER and total volume in lung, VT also decreased too, which means the digestion of stomach and lung function are inhibited due to the high corset pressure.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.546-551
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• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.

• The Journal of Korean Physical Therapy
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• 제28권6호
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• pp.385-392
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• 2016

Purpose: This study aimed to evaluate the relationships among quality of life, caregiver depression levels, and disease severity, especially motor function, in children with cerebral palsy. Methods: Data were collected through questionnaires using survey and interview from 80 caregivers of children with cerebral palsy. The caregivers' quality of life was measured using medical outcomes study 36-item short form health survey, and level of depression was scored using the beck depression inventory. In addition, children's motor function was evaluated using gross motor function measure-88 and functional independence measure scores. Results: Among 8 domains of medical outcomes study 36-item short form health survey, "physical functioning," "physical role functioning," "mental health," and "bodily pain" domains were significantly correlated to "total" percentage scores of gross motor function measure-88. In addition, "mental health" and "bodily pain" domains were correlated to each sub-dimension, including "lying and rolling," "sitting," "crawling and kneeling," "standing," and "walking, running, and jumping." Similarly, the "running" and "jumping" dimensions including motor function measures correlated with "transfer," "locomotion," and "motor subtotal" of functional independence measure scores. The beck depression inventory scores were negatively correlated to "lying and rolling," "sitting," "crawling and kneeling," and the "total" percentage scores of gross motor function measure-88. The beck depression inventory scores were negatively correlated to "sphincter control," "communication," "social cognition," "cognitive subtotal," and "total" functional independence measure scores. Conclusion: It is necessary to consider the quality of life and emotional problems of caregivers of CP children and support them both physically and psychologically with comprehensive rehabilitation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2217-2220
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• 2005

This paper introduces a practical implementation of virtual crowd simulation software. Usual commercial crowd simulation softwares are complex and have program-like script interfaces, which makes an animator hard to learn and use them. Based on the observations that most crowd scenes include walking, running and fighting movements, we have implemented a crowd simulation system that automatically generates movements of virtual characters given user's minimal direction of initial configuration. The system was implemented as a plug-in of Maya which is one of the most commonly used 3D software for movies. Because generated movements are based on optically captured motion clips, the results are sufficiently natural.