• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.123-125
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tole-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.553-559
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• 2015

The purpose of this research is to develop a gait assistive device to enhance the gait stability and training efficiency of stroke patients. The configuration of this device is mainly composed of a motored wheel and a single cane whose lower end is attached to a motored wheel frame. A patient can feel haptic information from continuous ground contact from the wheel while walking through the grip handle. In addition, the wheeled cane can avoid using excessive use of the patient's upper limb for weight support and motivate the patient to use a paralyzed lower limb more actively. Moreover, the proposed device can provide intuitive and safe user interaction by integrating a force sensor and a tilt sensor equipped to the cane frame, and a switch sensor at the cane's handle. The admittance control has been implemented for the patient to change the walking speed intuitively by using the interaction forces at the handle. A hemi-paretic stroke patient participated in the walking assistive experiments as a pilot study to verify the effectiveness of the proposed haptic cane system. The results showed that the patient could improve walking speed and muscle activations during walking with a constant speed mode of the haptic cane. Moreover, the patient could maintain the preferred walking speeds and gait stability regardless of the magnitude of resistance forces with the admittance control mode of the haptic cane. The proposed robotic gait assistive device with a simple and intuitive mechanism can provide efficient gait training modes to stroke patients with high possibilities of widespread utilizations.

• Physical Therapy Korea
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• v.20 no.4
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• pp.55-64
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• 2013

The first purpose was to identify the plantar pressure distributions (peak pressure, pressure integral time, and contact area) during level walking, and stair ascent and descent in asymptomatic flexible flatfoot (AFF). The second purpose was to investigate whether peak pressure data during level walking could be used to predict peak pressure during stair walking by identifying correlations between the peak pressures of level walking and stair walking. Twenty young adult subjects (8 males and 12 females, age $21.0{\pm}1.7$ years) with AFF were recruited. A distance greater than 10 mm in a navicular drop test was defined as flexible flatfoot. Each subject performed at least 10 steps during level walking, and stair ascent and descent. The plantar pressure distribution was measured in nine foot regions using a pressure measurement system. A two-way repeated analysis of variance was conducted to examine the differences in the three dependent variables with two within-subject factors (activity type and foot region). Linear regression analysis was conducted to predict peak pressure during stair walking using the peak pressure in the metatarsal regions during level walking. Significant interaction effects were observed between activity type and foot region for peak pressure (F=9.508, p<.001), pressure time integral (F=5.912, p=.003), and contact area (F=15.510, p<.001). The regression equations predicting peak pressure during stair walking accounted for variance in the range of 25.7% and 65.8%. The findings indicate that plantar pressures in AFF were influenced by both activity type and foot region. Furthermore the findings suggest that peak pressure data during level walking could be used to predict the peak pressure data during stair walking. These data collected for AFF can be useful for evaluating gait patterns and for predicting pressure data of flexible flatfoot subjects who have difficulty performing activities such as stair walking. Further studies should investigate plantar pressure distribution during various functional activities in symptomatic flexible flatfoot, and consider other predictors for regression analysis.

• Journal of the Korea Computer Graphics Society
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• v.25 no.3
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• pp.11-20
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• 2019

In this study, a novel virtual reality (VR) experience environment is proposed for enabling walking adaptation of visually impaired people. The core of proposed VR environment is based on immersive walking interactions and deep learning based braille blocks recognition. To provide a realistic walking experience from the perspective of visually impaired people, a tracker-based walking process is designed for determining the walking state by detecting marching in place, and a controller-based VR white cane is developed that serves as the walking assistance tool for visually impaired people. Additionally, a learning model is developed for conducting comprehensive decision-making by recognizing and responding to braille blocks situated on roads that are followed during the course of directions provided by the VR white cane. Based on the same, a VR application comprising an outdoor urban environment is designed for analyzing the VR walking environment experience. An experimental survey and performance analysis were also conducted for the participants. Obtained results corroborate that the proposed VR walking environment provides a presence of high-level walking experience from the perspective of visually impaired people. Furthermore, the results verify that the proposed learning algorithm and process can recognize braille blocks situated on sidewalks and roadways with high accuracy.

• Journal of Korean Physical Therapy Science
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• v.16 no.2
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• pp.39-44
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• 2009

Background: The purpose of this study was to investigate the comparison between the walking speed and muscle tone of the lower extremity in male and female. Method: The experimental group was that 22 female and 24 male that participated this study. Subjects were measured walking speed and muscle tone. Muscle tone measured using myotonometer. Measured muscle were rectus femoris, vastus medialis, vastus lateralis, biceps femoris, semitendinousus, tibialis anterior, gastrocnemius. Result: The result of this study were that the walking speed were significantly significant(p<.01) in male and female. Muscle tone different in male and female that vastus medialis, vastus lateralis, tibialis anterior and gastrocnemius significantly significant(p<.05). Conclusion: This study showed that difference muscle tone and walking speed in male and female. This indicates that there is an interaction that plays a crucial roles in the walking speed and muscle tone.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.23 no.6
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• pp.151-166
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• 2020

Various experience keywords were derived through text mining analysis of two National Ecological and Cultural Exploration Routes. The results of this study were drawn as follows: The interaction between the experience keywords was analyzed by the degree centrality, closeness centrality, and betweenness centrality value calculated through the centrality analysis of the research site experience keywords. First, In the text mining analysis, 'walking' appeared as the top keyword in the I, II, and III periods of the two target areas. The keywords related to the stay type of "rental cottage" and "recreational forest" were derived for Masil Road in relation to accommodation facilities. However, the keywords related to the accommodation were not derived in Gubul Road. Second, as a result of the centrality analysis, the degree centrality of the keywords "walking", "sea", "look", "salt flats" of Masil Road and "walking", "lake" and "park" of Gubul Road was high. The keywords located at the center are "walking" and "sea" in the Masil Road, and "walking" in the Gubul Road. As an influential keyword, Masil Road is "experience" and Gubul Road is "history". Third, According to the results of the analysis, the keywords that appeared at the top of the Gubul Road are derived from the keywords related to the 1 ~ 8 course, and it is judged that the visitors are visiting the 1 ~ 8 course trail evenly. However, the Gubul Road only appears in the top keyword only for a few courses. Through this, it seems that three courses are intensively visited as the main course of 6 Gubul Road, 6-1 Gubul Road, and 8 Gubul Road.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.132-137
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• 2017

This paper proposes a transformation method of the zero moment point (ZMP) and the center of mass (CoM) from one walking pattern to other patterns by considering the structure of a robot or walking situations in real time. In general, a humanoid robot has own structure characteristics like height and mass. The structure characteristics make the given CoM/ZMP walking pattern of one human or one humanoid robot to be difficult to apply to other robot directly. For this purpose, we analyze the characteristics of walking patterns according to the step length, duration of walking support phase and the CoM height by using the cart-table model as the simple humanoid robot model. A transformation equation is derived from the analyzation and it is verified with simulation.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.