• 대한교통학회지
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• 제27권1호
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• pp.107-114
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• 2009

보행은 인간의 기본적이면서 중요한 교통수단이다. 최근 들어 보행자 사고와 관련하여 보행안전이 중요시되고 있다. 이에 본 연구에서는 보행환경요소가 보행안전에 영향을 미치는지 살펴보았다. 선행연구에서 15개의 보행환경요소를 추출하여 설문조사를 실시하였고, 요인분석을 통해 4개의 요인을 추출하였다. 다중회귀분석 결과 F-value는 9.211, P-value는 0.000으로 귀무가설이 기각되어 보행환경요인은 보행안전에 영향력을 미치는 것으로 나타났다. 영향력은 보도특성, 경관성, 상업성, 보행특성의 순으로, 특히 경관성과 보도특성은 유의미한 것으로 분석되었다.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.307-314
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• 2006

In this paper, we present a comprehensive study for the development of quadruped walking robot. To understand the walking posture of a tetrapod animal, we begin with a careful observation on the skeletal system of tertapod animals. From taking a side view of their skeletal system, it is noted that their fore limbs and hind limbs perform characteristic roles during walking. Moreover, the widths of footprints and energy efficiency in walking have a close relationship through taking a front view of their walking posture. According to these observations, we present a control method where the kinematical solutions are not necessary because we develop a new rhythmic gait pattern for the quadruped walking robot. Though the proposed control method and rhythmic pattern are simple, they can provide the suitable motion planning for the robot since the resultant movement is based on the animal's movements. The validity of the proposed idea is demonstrated through dynamic simulations.

• The Journal of Korean Physical Therapy
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• 제21권1호
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• pp.89-96
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• 2009

Purpose: The purpose of this study was to determine the effect of modified golf swing training on gait characteristic in hemiplegic patient through Kwon 3D motion analysis system. Methods: This study has performed single subject design from September to October 2008. The subject had left hemiplegia due to CVA in December 2003. He has treated Bobath approach twice a week. In order to increase ankle dorsiflexion and knee flexion, the subject has applied modified golf swing training on the basis of Bobath approach. The measurement of gait characteristic was taken by Kwon 3D motion analysis system. Results: The results were as follows : 1) Walking velocity was increased 0.62m/sec than before the training. 2) Step length was increased 0.09m than before the training. 3) Left ankle and hip angle were increased, but left knee angle was decreased. Conclusion: It could be concluded that the activity modified golf swing training in walking pattern contributed to improve the movement quality and speed of gait.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.26-33
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• 2016

This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• 한국ITS학회 논문지
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• 제15권1호
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• pp.16-27
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• 2016

본 연구는 고령자의 목적별 보행 행태에 대한 기초분석과 함께 토빗모형을 활용해 보행 행태에 영향을 끼치는 요인을 규명하였다. 영향요인으로는 보행자 행태와 연관 있는 개인 특성, 가구 특성, 존 특성 변수 등을 선정하였다. 보행 행태를 대변하는 변수로는 보행 빈도와 보행 시간 변수를 채택하였다. 분석 결과, 보행시간 모형이 빈도 모형보다 더 우수한 것으로 나타났다. 목적별로는 교육 목적 모형의 설명력이 가장 낮았으며 기타목적 모형은 다양한 특성이 혼재되어 있었다. 독립변수로는 개인, 가구 및 존 특성 변수가 고령 보행자 목적에 따라 각기 다른 영향을 끼치는 것으로 나타났다. 연령이 증가하거나 차량 및 운전면허를 보유한 사람은 보행활동이 감소하였다. 노유자 시설은 고령 보행자의 활동을 촉진하는 것으로 나타났으며 근린 및 업무시설은 업무 목적 보행 활동을 증가시켰다. 마지막으로 집약적 토지개발은 고령 보행자의 보행 활동을 감소시키는 것으로 나타나 향후 도시계획 관점에서 이를 고려해야할 필요성이 있다는 점을 도출하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.743-747
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• 2000

The coordinated mechanism of terrestrial vertebrates enables them to maneuver over all of the terrain conditions since they have a distinct ability to adapt to varying conditions. Their locomotions remain infinitely more advanced and elegant than that of present-day existing mechanical walking robots. However, the principles of existing walking robots are based more on technical rather than on biological concepts, yielding unstable locomotion with low speed. In order to apply these advanced biological phenomena to the mechanical design of 4-legged walking robot, modeling methods are introduced and mathematical equations are also introduced.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 대한건축학회논문집:계획계
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• 제34권3호
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• pp.129-138
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• 2018

The purpose of this study is to analyze the daily living area of the elderly using the vast amount of travel route data collected through smart phones. In order to analyze the utilization status of the elderly into the visiting area and the living area, the subway station influence area was typed based on the number and ratio of the elderly visiting and the elderly living there. The characteristics of the elderly visiting area and the living area of the subway station area were derived by analyzing the walking route data for the three types of subway station influence areas where the elderly visit and live. First, we derive the range of visiting area and living area of the elderly near the subway station. Second, we derive the characteristic of moving distance which causes the linked walking of the elderly. Third, destination distribution and facility utilization are influenced by the subject of use, movement pattern, and facility awareness.

• The Korean Journal of Physiology
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• 제5권2호
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• pp.29-40
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• 1971

Oxygen consumption, pulmonary ventilation, heart rate, and breathing frequency were measured on 8 men walking on a treadmill carrying load of 9 kg on hand, back, or head. Besides measurements were made on subjects carrying loads of 2.6 kg each on both feet. The speed of level walking was 4, 5, and 5.5km/hr and a fixed speed off km/hr with grades of 0, 3, 6, and 9%. Comparisons were made between free walking without load and walking with various types of loads. The following results were obtained. 1. In level or uphill walking the changes in oxygen consumption, pulmonary ventilation, breathing frequency and heart rate were smallest in back load walking, and largest in hand load walking. The method of back load was most efficient and hand load was the least efficient. The energy cost in head load walking was smaller than that of in hand load walking. It was assumed that foot load costed more energy than hand load. 2. In level walking the measured parameters increased abruptly at the speed of 5.5 km/hr. Oxygen consumption in a free walking at 4 km/hr was 11.4ml/kg b.wt., and 13.1 ml/kg b.wt. 5.5 km/hr, and in a hand load walking at 4 km/hr was 13.9, and 18.8 ml/kg b. wt. at 5.5 km/hr. 3. In uphill walking oxygen consumption and other parameters increased abruptly at the grade of 6%. Oxygen consumption at 4 km/hr and 0% grade was 11.4 ml/kg b. wt., 13.6 at 6% grade, and 16.21/kg b. wt. at 9% grade in a free walking. In back load walking oxygen consumption at 4km/hr and 0% grade was 12.3 ml/kg b.wt.,14.9 at 6% grade, and 18.7 ml/kg b.wt. In hand load walking the oxygen consumption was the greatest, namely, 13.9 at 0% grade, 17.9 at 6%, and 20.0 ml/kg b. wt. at 9% grade. 4. Both in level and uphill walking the changes in pulmonary ventilation and heart rate paralleled with oxygen consumption. 5. The changes in heart rate and breathing frequency in hand load were characteristic. Both in level and uphill walk breathing frequency increased to 30 per minute when a load was held on hand and showed a small increase as the exercise became severe. In the other method of load carrying the Peak value of breathing frequency was less than 30 Per minute. Heart rate showed 106 beats/minute even at a speed of 4 km/hr when a load was held on hand, whereas, heart rate was between, 53 and 100 beats/minute in the other types of load carriage. 6. Number of strides per minute in level walking increased as the speed increased. At the speed floater than 5 km/hr number of strides per minute of load carrying walk was greater than that of free walking. In uphill walk number of strides per minute decreased as the grade increased. Number of strides in hand load walk was greatest and back load walk showed the same number of strides as the free walk.