• 대한건축학회논문집:계획계
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• 제35권1호
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• pp.127-138
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• 2019

This study was to evaluate the walking speed of elderly people by using the travel route big data collected by travel diary and smart phone application. We analyzed the change of walking behavior in the residential street environments of the elderly whether they had a company or not. We interpreted the meaning based on previous studies. In addition, the characteristics of elderly people's use of the residential street environment were analyzed by comparing the change in spatial speed according to the companion. The result reveals that the usage patterns of the residential street environments change depending on whether they were accompanied or not. First, the elderly tend to do more social activities while walking alone than when they were accompanied. When they were accompanied the social activities occur in empty lot near the residential area. However, the social activities of the elderly occur in open space such as neighborhood park or playground while walking alone. Finally, This study has strength that it empirically analyzes the elderly's walking behavior and usage paths in small outdoor spaces, including residential streets.

• 대한건축학회논문집:계획계
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• 제35권1호
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• pp.117-125
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• 2019

The purpose of this study is to examine urban built environments associated with the walking behavior in order to identify the problem of urban infrastructure from the perspective of Universal design theory. Using the walkability criteria developed based on the findings of previous studies on Universal design theory and walking environment, the urban built environments in old town area of Seoul were evaluated. The results of the evaluation indicated that the pedestrian infrastructure in the study area had several shortcomings to improve in order to provide walking-friendly environments. First, the pedestrian infrastructure for visually impaired people were severely limited. Second, walking traffics in large portion of the street networks were interrupted by a variety of obstacles such as parked cars, signboards, and illegal street shops. Third, there were certain areas where the quality of pavement was not properly managed. In summary, this study provides an empirical data to understand the current situation of pedestrian infrastructure in the urban areas. Improvement of pedestrian infrastructure is needed to address the issues related to the mobility of the disabled people. It is also recommended to construct the GIS data on walking environment in order to develop and mange a long-term public investment plan for walking-friendly urban environments.

• 한국환경과학회지
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• 제16권11호
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• pp.1231-1238
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• 2007

The promotion of walking and bicycling is recently a hot topic in the urban planning and design field. Many planners have already examined the many components of the land use-transportation connection and built environment-physical activity link. A rapidly growing area of urban form research is to measure the level of walk-ability in urban environments. With this background, this research conducted a preliminary study to develop the evaluation indicators of pedestrian environments. Based on the literature reviews on walking or pedestrian environments, we proposed the seventeen indicators related with pedestrian facilities, road attributes and walking environment. We also performed a questionary survey to evaluate the satisfaction of their neighborhood pedestrian environments for 302 randomly selected adults living in the City of Changwon, Gyeongsangnam-do. Finally, this research provided the valid model to evaluate the effects of physical environmental factors on the walking satisfaction using factor analysis and multiple regression analysis.

• 대한건축학회논문집:계획계
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• 제35권7호
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• pp.119-126
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• 2019

The active living of the elderly leads to improve their lives and enhance social networks. In the view of the active living, the walkability is an essential factor for the elderly's daily life. To support the active living, making age-friendly environment is important. Considering that the elderly mainly carry out activities through walking, making the age-friendly walking environment is a preliminary action. The existing studies applied various methods such as surveys by experts. In spite of the benefits in theirs, there is still a limitation that current walkability measurement methods did not incorporate the actual elderly's walking activity. Thus, the purposes of this study is to measure the elderly's walking quantitatively using a wearable sensor, and to investigate the feasibility of comparing several walking environments based on the data collected from the actual elderly's walking. To do this, experiment was conducted in four types environments with 22 senior subjects. The walkability was measured by walking stability represented quantitatively as Maximum Lyapunov Exponent (MaxLE). Through the experiment results, it was confirmed that the stability of the elderly walking was different according to the walking environment, which also meant that bodily responses (walking stability) is highly related to walkability. The results will provide an opportunity for the continuous diagnosis of walking environments, thereby enhancing the active living of the elderly.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.67-76
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• 2005

In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.

• Physical Therapy Rehabilitation Science
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• 제7권2호
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• pp.83-87
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• 2018

Objective: The purpose of this study was to investigate the relationship between heart rate (HR), self-awareness of exercise intensity (rating of perceived exertion, RPE), and 5-meter walk test (5MWT) of persons affected by stroke during backward walking according to the preferred stride frequency (PSF), PSF+3 and PSF+6 conditions. Design: Cross-sectional study. Methods: A total of 11 persons with stroke (9 males, 2 females) participated voluntarily. All patients underwent backward walking under the PSF, PSF+3, and PSF+6 conditions in underwater and ground environments, and each condition was performed for 5 minutes. The HR, RPE, and walking speeds were measured during walking, and the measured values from underwater and ground environments were compared. Results: The HR and RPE in the ground environment were significantly increased (p<0.05), and although the 5MWT showed an increase in speed, it was not significant. The HR and RPE in the underwater environment were also significantly increased (p<0.05), however, although the 5MWT results was increased, it was not significant. The HR and RPE were significantly increased in the PSF+6 condition (p<0.05). Conclusions: The results of this study showed that backward gait training underwater can provide an appropriate exercise intensity for stroke survivors and suggests that exercises performed in an underwater environment is more effective compared to the ground environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• Journal of Computational Design and Engineering
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• 제3권3호
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• pp.250-265
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• 2016

Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only "as-planned" situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with "as-is" environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.

• 한국조경학회지
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• 제52권4호
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• pp.45-55
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• 2024

본 연구는 보행 활동을 일상보행(utilitarian walking)과 여가보행(leisure walking)으로 구분하고, 보행 유형과 보행 환경 간의 상관관계를 분석하고자 한다. 연구 대상지는 서울특별시 용산구로, 보행환경 측정을 위해 구글 스트리트뷰(Google Street View: GSV)와 의미론적 분할(semantic segmentation) 딥러닝 기법을 활용하여 보행자가 실제로 체감하는 도시 보행환경 요소들을 정량적으로 산출하였다. 일상보행과 여가보행, 인지적 보행환경 만족도를 측정하기 위해 설문조사를 실시하여 192명의 유효 응답을 수집하였고, 설문 응답 데이터를 바탕으로 일상보행, 여가보행, 보행환경 만족도를 시각화하고, 보행친화도 값 간의 상관관계를 분석하였다. 연구 결과, 여가보행과 보행친화도는 유의미한 양의 상관관계를 보였으나(Pearson's r= 0.121, p-value= 0.012), 일상보행과 보행친화도 간에는 유의미한 상관관계가 없었다(Pearson's r= 0.093, p-value= 0.055). 이는 사람들이 일상보행에서는 보행환경보다 이동 효율성을 더 중요하게 고려하지만, 여가보행에서는 보행환경의 질을 고려하여 보행 빈도가 결정된다는 결과를 보여준다. 이러한 결과를 바탕으로 본 연구는 여가보행을 증진시키기 위해 주거지 주변의 보행환경을 개선하는 방안으로, 좁은 보행로에 수직 정원이나 다양한 형태의 입체적 정원을 조성하고, 보도 디자인을 개선하는 등의 구체적인 전략이 필요함을 제시한다. 본 연구 결과는 보행 친화적인 환경 조성을 통해 여가보행을 활성화하고, 궁극적으로 서울시의 지속 가능성과 주민들의 삶의 질을 향상시키는 데 기여할 수 있을 것이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.312-314
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• 2006

Researches on biped robot walking have been mostly focusing on walking on even surfaces. Therefore, robot walking has been only realized on pre-specified spaces with pre-specified movements according to the previous researches. In this paper a walking system for a biped robot using fuzzy system and neural networks to overcome those constraints. The system enables biped walking to be possible in various environments and with more complicated obstacels. For the purpose, a walking robot should recognize its surrounding environment and determine its movement. In the proposed system, a robot dynamically generates its walking trajectories of each joint by using neural networks when facing new obstacle such as stairs, and it maintains its walking stability by using closed loop fuzzy control system which manipulates the waist joints.