• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.247-248
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• 2010

• International Journal of Advanced Culture Technology
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• 제10권3호
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• pp.371-376
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• 2022

The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. It is a system structure of an integrated actuator and brake system that can avoid obstacles in consideration of the safety of the elderly and is easy to install on the device. In this paper, the design of a lightweight walking aid was designed to increase the convenience of the socially disadvantaged and the elderly with reduced exercise ability. In addition, in order to overcome the disadvantage of being inconvenient to use indoors due to the noise and vibration of the motor during operation, an In-Wheel type motor is applied to develop and apply a low noise, low vibration and high efficiency drive system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2138-2142
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• 2005

A wearable sensor system is proposed as a man-machine interface to control a device for walking assistance. The sensor system is composed of small sensors to detect the information about the user's body motion such as the activity level of skeletal muscles and the acceleration of each body parts. Each sensor includes a microcomputer and all the sensors are connected into a network by using the serial communication function of the microcomputer. The whole network is integrated into a belt made of soft fabric, thus, users can put on/off very easily. The sensor system is very reliable because of its decentralized network configuration. The body information obtained from the sensor system is used for controlling the assisting device to achieve a comfortable and an effective walking training.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• 한국의류학회지
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• 제48권1호
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• pp.108-119
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• 2024

In this study, we aimed to propose enhancements to the dimensions and design of walking aids tailored for elderly women. Specifically, we focused on wheeled walking assistance devices and aligned each structural component with the appropriate human body dimensions to suggest appropriate product dimensions organized by size clusters, aiming to maximize the practicality of the results. We extracted essential factors required for product design, including human body size elements. The dimension extraction method was clustered to establish connections between key human body parameters-such as height, weight, and age groups-and product dimensions. We conducted a comparative analysis of walking aid product dimensions according to the design elements and sizes of models currently available in the market. The outcomes of this study offer objective, data-driven insights into areas where existing models on the market could benefit from improvement and we anticipate that the findings of this study will provide a solid, quantitative foundation for individuals when selecting the most suitable model for their needs.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.936-942
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• 2005

Recently the exoskeletal power assistive equipment which is a kind of wearable robot has been widely developed to help the human body motion. For the elderly people and patients, however, some limits exist due to the weight and volume of the equipments. As a feasible solution, a tendon-driven exoskeletal power assistive device fur the lower body, and caster walker are proposed in this research. Since the caster walker carries the heavy items, the weight and volume of the wearable exoskeleton are minimized. The key control is used to generate the joint torque required to assist motions such as sitting, standing and walking. Experiments were performed for several motions and the EMG sensors were used to measure the magnitude of assistance. When the motion of sitting down and standing up was compared with and without wearing the proposed device, the $25\%$ assistance was acquired.

• 한국ITS학회 논문지
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• 제15권1호
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• pp.39-51
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• 2016

본 연구는 고령자의 스마트폰 이용률 증가에 따라, 고령자가 활용이 가능한 ICT(정보통신기술) 기반의 맞춤형 보행보조기술 개발을 제시하고 이에 대한 사용자 니즈(needs)를 규명하고자 하였다. 맞춤형 보행보조서비스의 형태는 햅틱(진동 및 촉각정보)을 통한 보행안내지원 서비스와 자동 및 셀프 SOS 시스템, 그리고 접근차량의 정보알람 서비스가 포함된 웨어러블(Wearable) 보행안내 보조 장치를 기반으로 한다. 이러한 서비스의 실효성을 검토하기 위하여 189명의 잠재적 고령자와 고령자를 대상으로 그들이 가지는 보행에 관한 심리적 태도 및 각 서비스에 대한 선호도, 그리고 보행안내 보조 장치에 대한 WTP (willingness to pay)를 조사 및 분석하였다. 또한 조사된 변수를 통해 요인분석(Factor analysis)을 수행하였으며 여기서 도출된 요인간 상관관계 파악을 위해 경로모형 (path model)을 추정하였다. 분석된 결과를 통해 연령대에 적합한 보행보조 장치의 맞춤형 서비스의 방향을 제시하였으며, 이는 제품화된 기술에 대한 활용범위를 증대시키고 궁극적으로 고령자의 보행 안전성을 향상시킬 수 있을 것으로 판단된다.

• 제어로봇시스템학회논문지
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• 제17권8호
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• pp.814-823
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• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• 재활복지공학회논문지
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• 제4권1호
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• pp.23-28
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• 2010

심폐기능 허약자의 경우 다른 보행기능은 정상이지만 산소 공급에 문제가 발생된 경우로서, 에너지 소모를 최소한으로 줄여주는 보행보조 시스템이 필요하다. 심폐기능 허약자의 보행을 원활히 보조하기 위하여 본 연구에서는 고관절에 부착된 DC모터를 이용하여, 보행시 고관절 굴곡 및 신전을 제어하는 시스템을 고안하였다. 두 개의 모터를 좌우 고관절에 부착되어 정상 보행패턴을 기준으로 고관절의 굴곡과 신전의 설정각도를 정의하고 보행을 보조한다. 실험결과 보행보조에 의한 에너지 소모도 감소는 14.8%이었다.

• 한국안전학회지
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• 제32권1호
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• pp.121-127
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• 2017

Recently, many patients in a hospital are threatened life by fire disaster. Because many patients like vulnerable people have more evacuation problem than ordinary person. So a patient who can escape by oneself with walking assistance device like crutches or wheelchair and another patient who can't escape by oneself are should be supported safety technologies and service. Earlier research of 'hospital evacuation' led by actual experiments or computer evacuation simulation. Actual experiment is effective to gain credibility of result but it is difficult for patients to experiment repeatedly and it requires consideration for spatial problem and economic problems. Although computer evacuation simulation have been used to solve these problems, almost have concluded only results based on velocity without evacuation device. In this study, evacuation results with support device application or not are analysed used by computer evacuation simulation based on MAS(Multi Agent System). As a result, it is drawn through proof of efficiency of evacuation device in the vertical space like stairs that can improve the evacuation plan for vulnerable people in the hospital.