• ETRI Journal
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• 제40권4호
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• pp.471-482
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• 2018

This paper proposes the necessity of a walking period in footstep planning and details situations in which it should be considered. An optimization-based fast footstep planner that takes the walking period into consideration is also presented. This footstep planner comprises three stages. A binary search is first used to determine the walking period. The front stride, side stride, and walking direction are then determined using the modified rapidly-exploring random tree algorithm. Finally, particle swarm optimization (PSO) is performed to ensure feasibility without departing significantly from the results determined in the two stages. The parameters determined in the previous two stages are optimized together through the PSO. Fast footstep planning is essential for coping with dynamic obstacle environments; however, optimization techniques may require a large computation time. The two stages play an important role in limiting the search space in the PSO. This framework enables fast footstep planning without compromising on the benefits of a continuous optimization approach.

• 전기학회논문지
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• 제56권2호
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• pp.374-382
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• 2007

Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously play golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic waking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.

• 국제물리치료학회지
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• 제3권1호
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• pp.370-377
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• 2012

This study examines the effects of different environments on the application of hemiplegia patients circuit balance training. Group 1 performed circuit balance training without any auditory intervention Group 2 performed training in noiseless environments and Group 3 performed training in white noise environments. First, among lower extremity muscular strength evaluation items, maximum activity time(MAT) was not significantly different(p>.05). Maximum muscle strength(MMS) increased significantly in Group 3(p<.01), there was no significant difference in MMS among the groups. Average muscle strength(AMS) indexes also significantly increased in Group 3(p<.01), there was no significant difference in AMS among the groups. Second, among balancing ability evaluation items, Berg's balance scale(BBS) scores significantly increased in all groups(p<.05), BBS scores were significantly difference among the groups. Based on the results, Group 1, 2 and Group 1, 3 showed significant increases (p<.05). Functional reach test(FRT) values significantly increased in Group 2, 3(p<.05), and there was no significant difference in FRT values among the groups. Timed up and go(TUG) test values significantly decreased in Group 2, 3(p<.05), and there was no significant difference in TUG test values among the groups. Third, among walking speed evaluation items, the time required to walk 10m significantly decreased in all groups(p<.05), and there was no significant difference in the values among the groups. Average walking speeds showed significant increases in Group 1, 3(p<.05), and there was no significant difference in the values among the groups. Based on the results of this study, noise environments should be improved by either considering auditory interventions and noiseless environments, or by ensuring that white noise environments facilitate the enhancement of balancing ability.

• 한국방재안전학회논문집
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• 제6권1호
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• pp.79-86
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• 2013

본 논문은 안전한 보행환경 사업 대상지 선정지표 개선 방안을 위한 연구 과제로서, 그동안 차량 중심으로 도로 정책이 추진됨에 따라 최근 매년 2천명 이상의 보행자 사망사고가 발생하는 등 인간중심의 보행환경이 매우 열악한 실정으로 보행권이 심각하게 침해되어 왔다. 보행권은 공공의 안전보장, 질서 유지 및 복리 증진을 저해하지 않는 범위에서 국민이 쾌적한 보행환경에서 안전하고 편리하게 보행할 권리로서, 국가는 안전하고 편리하며, 쾌적한 환경을 마련해 주어야 할 의무가 있다. 최근 보행자 안전에 대한 관심이 증가되고 있으며, 안전하고 쾌적하며 건강한 보행환경 공간 조성을 위한 국가차원의 지원도 이루어지고 있다. 보행환경 불량 대상지에 대한 개선사업은 많은 비용이 수반됨에 따라 한정된 재원을 효율적으로 사용하여 최대한의 효과를 얻고 그 사업추진의 타당성에 대한 엄격한 사후평가가 이루어져야 한다. 그러나 현재 보행안전 및 편의증진에 관한 법률에 의거 보행환경 개선지구 지정의 법적근거는 마련되었으나, 안전한 보행환경 조성이라는 목적에 맞는 사업 대상지 선정지표는 마련되어 있지 못한 실정이다. 이에 본 연구에서는 그동안 연구되어온 안전한 보행환경 사업 대상지 선정 평가지표의 문제점을 검토하여 개선안을 제안하고자 하였다. 안전한 보행환경 조성이라는 사업목적에 맞게 사업대상지 선정 시에는 주민설문조사와 역사성을 평가지표에서 제외하고, 보행자 안전성과 보행환경 평가 이외에 보행공간 안전시설과 강풍 등 자연재난 및 잠재적 인적위험에 대한 재난 안전성 평가를 신설할 것을 제안하였다.

• 한국실내디자인학회논문집
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• 제27권2호
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• pp.166-174
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• 2018

This study examined the indoor exercise environment use and needs of older adults. The target population was seniors aged 60 years and older living in a newly developed apartment complex. Variables include demographic and housing characteristics, status of exercise, and indoor exercise environmental evaluation and needs. A total of 102 data items were analyzed using frequency, t-test and ANOVA. Noteworthy results are as below. First, community centers and community welfare centers were the most desirable exercise environments because of affordability, exercise programs/spaces. Such exercise environments should be developed in more locations for increasing numbers of seniors. Second, indoor exercise environments need to be improved based on seniors' physical capabilities and environmental behavior. Third, supportive spaces such as restrooms, shower rooms, locker rooms should be carefully designed. Fourth, seniors wanted to have walking trails and indoor swimming pools, the most desirable exercise spaces, within ten to 15 minutes walking distance.

• 대한물리치료과학회지
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• 제16권1호
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• pp.31-39
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• 2009

Background: Community ambulation has been recently recognized as one of the most essential factors of activities of daily living in patients with post-stroke hemiparesis. This study aimed to compare walking velocity and step number in 5 community situations in patients with post-stroke hemiparesis. Methods: Ten chronic stroke patients volunteered for this study. The main variables analyzed were walking speed and step number, and these were measured in 5 different community situations: a physical therapy room, a parking lot, a bank, a crosswalk, and a hospital lobby. The measurements obtained for walking in the physical therapy room were measured using a 10m walk test and were used as baseline data for comparison with each option. The ambulation distance was set at 300m for the parking lot and the bank and 150m for the crosswalk and hospital lobby. For data analysis, walking speed and step number were standardized with the distance options of each ambulation. Results: Compared to the walking speed in the physical therapy room, those in the other situations, except for the parking lot, were significantly different (p<.05). Moreover, there were significant differences in the speeds between the bank and the parking lot and between the parking lot and the crosswalk (p<.05). Compared to the step number in the physical therapy room, those in all situations except for the crosswalk were significantly different (p<.05). Further, there was a significant difference in the step number between the bank and the crosswalk (p<.05). Conclusion: The walking ability of patients with hemiparesis in real environments within a community could be different from that in a physical therapy room. Therefore, the evaluation of walking should be performed in a variety of community situations.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• 한국컴퓨터정보학회논문지
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• 제19권5호
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• pp.99-107
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• 2014

최근관광에도 여러 가지변화가 일어나고 있는데, 그 중 하나가 자연 그대로의 상태를 보고, 즐기는 도보관광이다. 본 연구는 이러한 도보관광지 체험과 도보관광객 만족도, 재방문 의도 간의 구조적 관계를 분석하여, 차후 지자체의 도보관광지 활성화를 위한 방안을 제시하는데 목적이 있다. 먼저 실증분석을 위해 북한산 둘레길을 방문하는 도보관광객들을 대상으로 서베이를 실시하였고, 수집된 자료 250부에 대해 SPSS 18 통계패키지를 이용하여 빈도분석, 요인분석, 신뢰도분석, 상관관계분석을 실시하였으며, 또한 AMOS 7.0을 활용하여 공분산구조분석(Covariance Structure Analysis)의 확인적 요인분석과 모형검증(Model Test)을 실시하였다. 그 결과 Pine과 Gilmore(1998)의 개념적 연구의 4가지(오락, 교육, 심미, 일탈) 요소 중 심미적 체험요소와 일탈적 체험요소가 도보관광객의 만족에 유의한 영향을 미쳤다. 또한 재방문 의사에 대한 만족도의 영향은 기존 연구에서 밝혀진 바와 같이 매우 강한 인과관계를 보여주었다. 연구결과는 도보관광객들의 만족도를 높여 재방문을 유도하기 위해서는 심미적 체험과 일탈적 체험의 질을 강화해야 한다는 시사점을 제공하였다.

• 보건교육건강증진학회지
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• 제35권5호
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• pp.1-16
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• 2018

Objectives: This study aimed to examine systems behavior of urban walking by analyzing a dynamic structure in Seoul, South Korea. Methods: As a systems thinking approach to urban walking and health promotion, we developed a Casual Loop Diagram based on literature review and expert consultation. The reviewed literature included: 1) qualitative studies that explores the experiences of urban walkers in Seoul; 2) a systematic review study on the built environmental factors related to walking; 3) policy research reports related to urban walking in Seoul. Results: The feedback structure for urban walking was related to the three urban environments (safety & walking environment, socioeconomic environment, and public transportation environment), and was characterized by a trade-off consisting of eight reinforcing loops and four balancing loops. Conclusions: The policies for a walkable city require multi-sectoral cooperation in order to change the causal loop structure related to the decline of walking. Therefore, it is necessary to establish legal and institutional conditions so that multi-sectoral and multidisciplinary approaches are possible.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.446-452
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• 2002

This paper Presents a 3-D design and a Vibration control of a new walking R.G.O.(Robotic Gait Orthosis) and would like to develop a simulation by this walking system. The vibration control and evaluation of the new knee joint mechanism on the biped walking R.G.O.(Robotic Gait Orthosis) was a very unique system and was to obtain by the 3-axis accelerometer with a low frequency vibration for the paraplegia It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking R.G.O.. The new knee joint system of both legs were adopted with a good kinematic characteristics. It was designed attached a DC-srevo motor and controller, with a human wear type. It was able to accomodate itself to a environments of S.C.I. Patients. It will be expect that the spinal cord injury patients are able to recover effectively by a new walking R.G.O. system.