• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• 대한임상전기생리학회지
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• 제10권1호
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• pp.15-22
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• 2012

Purpose : We investigated the effects of the combined use of FES and over ground walking with partial body-weight support (PBWS) on walking function and balance control in people with chronic strokes. Methods : Twenty-seven people who were ambulatory after chronic strokes were evaluated. The exercise's intervention consisted of the combined use of FES and over ground walking with PBWS and general exercise groups. The FES + PBWS group and general exercise group consisted on a-20-minute session per day, 3 times a week during a 4 week period. The evaluation was carried out before, after, and two weeks after the exercise intervention. Outcome measures were a 6 Minute Walk Test, 6-Meter walk Test, Timed Up and Go Test, and a Balance Test, measured before and after the exercise interventions at a-2 week follow up. Results : The endurance was significantly increased in both the FES+PBWS group and general exercise group (p<0.05). Significant increase on the gait velocity was observed in both the FES+PBWS group and general exercise group (p<0.05). The TUG was significantly different in both the FES + PBWS group and general exercise group (p<0.05). However there were no differences in both the between-group & interaction. The stability index was significantly different in both the FES + PBWS group and general exercise group (p<0.05). Conclusion : In conclusion, the combined use of FES and over ground walking with PBWS led to an improvement in walking function and balance control. Thus, it is possible to combine the use of FES and over ground walking with PBWS for physical therapy intervention to improve walking function and balance control. It is suggested to apply this intervention in the clinical field.

• 한국조경학회지
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• 제52권1호
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• pp.87-100
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• 2024

본 연구는 도시민의 가로환경 이용을 매개로 하여 주거지역 가로환경 질이 도시민의 정신 건강에 미치는 영향을 밝히고자 하였다. 영과잉 음이항 회귀모형을 통해 보행 활동과 가로환경이 도시민의 우울 증세에 미치는 영향을 확인하였다. 연구 범위는 2017년 대한민국 서울특별시로 한정하였으며, 우울 유병 증세를 종속 변수, 가로환경 변수 및 보행 변수, 개인 특성을 독립 변수로 이용하였다. 나아가, 가로 녹지와 보행 빈도의 상호작용 효과를 살펴, 녹지에서 걷는 행위가 정신 건강에 미치는 상승효과를 분석하였다. 연구 결과, 가로 녹지 면적 비율이 높을수록 우울증세가 나타나지 않았다. 보행 빈도가 높을수록 우울 증세가 나타나지 않거나, 우울 증세가 존재할 경우에도 약하게 나타났다. 또한, 가로 녹지에서의 보행 빈도가 늘어날수록 우울 증세가 약하게 나타나는 상호작용 효과를 확인하였다. 시각적 복잡성은 낮을수록 우울 증세가 나타나지 않았다. 본 연구는 도시민의 정신 건강 문제를 지역사회차원에서 다루는 데에 기여하며, 가로 녹지와 보행 빈도의 시너지 효과를 발견함으로써 주거지역 가로 녹지 환경이 도시민 정신 건강 증진에 미치는 중요성을 강조하였다.

• Asian-Australasian Journal of Animal Sciences
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• 제32권3호
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• pp.452-458
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• 2019

Objective: The study was carried to determine the interaction effects of pen enrichment and sex on behavioral activities, skin lesions and physiology of Windsnyer pigs. Methods: Forty-eight growing Windsnyer pigs of both sex, with an average initial body weight of 21.6 (${\pm}9.01$) kg were used. Four pigs were randomly assigned to either enriched or barren pens at a stocking density of $0.35m^2/pig$. Enriched pens contained 2 L bottles filled with stones and suspended at head level on ropes stretching across the pens. In addition, two plastic balls (90 mm in diameter) and 500 mL bottles (235 mm long) were placed on the floor of each enriched pen. Results: Pigs in barren environments had higher heart rates (p<0.001) than those in enriched pens. There was an interaction of pen environment and sex on rectal temperature (p<0.001). Females in enriched pens had higher rectal temperatures (p<0.05) than females in barren pens. There was no interaction of pen environment and sex on time spent eating and drinking (p>0.05). Time spent bullying was influenced (p<0.05) by pen environment and sex. Female pigs in barren environment spent more time on bullying than females in enriched pens. There was an interaction of pen environment and sex on time spent lying down and walking (p<0.05). Female pigs in enriched pens spent more time lying down than females in barren pens. Males in barren pens spent more time walking than males in enriched pens while no effect of pen environment was observed in females. There was an interaction of pen environment and sex on the number of skin lesions in the head, neck and shoulder region and other parts of the body (p<0.05). Conclusion: It was concluded that pen enrichment reduced the number of skin lesions and anti-social behaviors, especially for female pigs. There is a need, therefore of housing indigenous pigs under confinement.

• 한국지능시스템학회논문지
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• 제24권5호
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• pp.477-481
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• 2014

인간은 다양한 감정을 가지고 있으며 매 시점의 감정 상태에 따라 사고와 판단, 행동이 영향을 받는다. 특히 어떤 사람의 보행하는 모습만 보아도 그 사람의 감정 상태를 짐작할 수 있을 정도로 보행 또한 감정에 영향을 받는다. 현재 휴머노이드 로봇의 이족보행에 관한 연구는 지면의 상태와 상관없이 안정하게 걷는 것을 주로 다루지만 인간과의 교감을 위해서는 감정상태에 따라 보행하는 패턴이 달라질 필요가 있다. 이를 위해 본 논문에서는 보행분석 시스템을 이용해서 네 가지 대표적인 감정(기쁨, 슬픔, 화남, 편안함) 상태에 있는 성인남녀의 보행 데이터를 취득 및 분석하고 상호 특성을 비교하는 연구를 수행했다. 본 논문에서 소개 된 정서적 보행 분석 내용은 휴머노이드 로봇의 정서적 보행에 참고 자료로 사용될 예정이다.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.481-485
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• 2014

In service robots, a number of human movements are analyzed using a variety of sensors. Vibration signals from walking movements of a human provide useful information about the distance and the movement direction of the human. In this paper, we measure the intensity of vibrations and detect both human walking pace and direction. In our experiments, vibration signals detected by microphone sensors provide good estimation of the distance and direction of a human movement. This can be applied to HRI (Human-Robot Interaction) technology.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• 보건교육건강증진학회지
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• 제27권4호
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• pp.73-81
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• 2010

Objectives: The purpose of this study was to evaluate the effects of 12 weeks walking exercise program participation on changes in aging-related hormones concentration in elderly men. Methods: 16 elderly men(above 65 years old) were participated in 12 weeks walking exercise program by group types(exercise group ; n=8 & control group ; n=8), and their aging-related hormones(GH, testosterone and melatonin) levels were assessed before program(0 week) and after program(12 weeks). Regularly walking exercise program(field walking exercise) performed for 12 weeks(3days/week, 60~70min/day, HRR 55~65%). All data were expressed as mean and standard deviation by using SPSS/$PC^+$(ver. 13.0) program, and to evaluate the differences before and after treatment by groups, data were analyzed by paired t-test(a${\leq}$.05) and 2-way ANOVA was performed to examine the differences between groups and within groups by variables. Results and Conclusion: The conclusions obtained from this study were as follows ; In growth hormone. testosterone and melatonin response after 12 weeks exercise was increased significantly in walking exercise group(p<.01; p<.001; p<.001). And in result of 2-way ANOVA analysis for group, exercise, group${\times}$exercise, as compared with the exercise, there is significant difference in all items. Interaction effect of between group and exercise is difference significantly on GH(F=5.915, p<.05), testosterone(F=15.117, p<.01) and melatonin(F=8.131. p<.01) in all groups. We observed a direct relationship(positive improvement) between the regular physical activity and aging-related hormones(growth hormone, testosterone and melatonin concentrations) in elderly men.

• 대한인간공학회지
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• 제28권3호
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• pp.33-39
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• 2009

Impact force to a body during walking depends on walking speed, walking steps, the condition of the floors and shoes, and weight. The ground reaction force and the foot pressure can be measured instantaneous force easily, but it's difficult to find out the amount of transferring forces to the body. On the other hand, the acceleration has an advantage for analyzing the amount of transferring forces. However, most of studies about impact forces to the ground reaction during exercise have been limited to analyze instantaneous forces. The important thing is to evaluate characters and the amount of the impact force rather than the magnitude. Therefore, this study analyze the impact force using 3 axis acceleration in three dimensions (x; anterior-posterior, y; left-right and z; longitudinal axis) using three axis acceleration. As working speed increased, impact forces increased significantly. Impact forces on x axis and z axis are higher at lower limb than that of upper limb. However, impact force at the knee is higher than that of other parts on y axis regardless of walking speed significantly. In addition, relations of the impact forces as interaction of experiment factors as well as effect of each factor are analyzed.

• 대한간호학회지
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• 제48권5호
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• pp.506-520
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• 2018

Purpose: To compare the effects of the Interaction Model of Client Health Behavior (IMCHB)-based oral health program (OHP) and walking exercise program (WEP) on oral health behaviors, periodontal disease, physical activity, and psychological indicators (depression, stress, and quality of life) in pregnant women. Methods: A nonequivalent control group pretest-posttest design was adopted to compare the effects of a 12-week OHP and WEP on pregnant women (n=65). Pregnant women were randomly assigned to the oral health group (OHG; n=23), walking exercise group (WEG; n=21), or control group (CG; n=21). Data were analyzed by the ${\chi}^2-test$, Fisher's exact test, Scheffe test, and repeated measures ANOVA, using the Statistical Package for the Social Sciences for Windows (version 21.0). Results: The OHG and WEG showed significant improvements in oral health behaviors, periodontal disease, and psychological indicators as compared to the CG. The WEG showed significant improvement in physical activity as compared to the OHG and CG. Conclusion: These findings indicate that the IMCHB-based OHP and WEP were effective in improving periodontal disease, physical activity, and psychological indicators. However, further studies are needed to identify the positive effects of the OHP and WEP on birth outcomes.