• 융합신호처리학회논문지
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• 제13권2호
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• pp.113-118
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• 2012

기존의 4족 보행 로봇에서의 다리 부착 위치는 말, 사자 등의 동물에서 볼 수 있는 것과 같은 형태로서 사람들에게 익숙한 형태이기 때문에 외관상 자연스러우나 보행의 안정성, 보행의 속도 등 보행의 관점에서는 비효율적인 측면이 있다. 본 논문에서는 자연계에는 존재하지 않는 형태로서 보행이 효율적으로 이루어지도록 네 다리를 몸체에 부착한 형태의 4족 보행 로봇에 대하여 기술한다. 제안된 4족 보행 로봇은 로봇의 진행 방향에 대하여 좌우 다리와 전후다리를 갖는다. 일반적인 구조의 4족 보행 로봇은 정적인 보행을 하기 위하여 항상 세 다리가 지면에 닿아야하고 로봇의 무게 중심을 로봇 진행 방향에 대하여 좌우로 이동시켜주어야 한다. 또한 보행 속도를 높이기 위해서는 두 다리만 동시에 지면에 닿는 동적인 보행을 수행하여야 하는데 이는 제어하기가 쉽지 않고 사용된 모터의 특성에 따라서는 동적인 제어가 불가능할 수도 있다. 반면 제안된 로봇은 정적인 보행에서도 두 다리를 동시에 이동할 수 있어 보행의 안정성과 효율성을 크게 향상시켰다.

• 대한물리치료과학회지
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• 제27권3호
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• pp.67-74
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• 2020

Background: The purpose of this study was to investigate the change of lower limb muscle activation according to the use of arm sling in normal subjects. Design: Cross-sectional Study Methods: Seven healthy subjects (6 males and 1 female, 25.42 years, 173.57 cm, 71.71 kg) were recruited on a voluntary basis. To measure the lower limb muscle activation during walking with and without arm sling, we used a wireless surface electromyography (sEMG) (FreeEMG1000, BTS Bioengineering, Milano, Italy). Six wireless sEMG electrodes were attached to the following three major muscle groups of the both side lower limb: rectus femoris, biceps femoris, medial gastrocnemius. All subjects wore arm sling on their right side during measurement. Results: In the stance phase, there was a significant increase in right side rectus femoris muscle activation in walking without arm sling compared to the walking with arm sling (p<.05). Additionally, In the stance phase, there was a significant increase in left side tibialis anterior muscle activation in walking without arm sling compared to the walking with arm sling (p<.05). Conclusion: The results of this study suggest that there is a significant association between the arm swing restriction and lower limb muscle activation. Therefore, it seems that it can be applied as basic data for gait training with an arm slings.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2009년도 춘계학술대회
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• pp.59-62
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• 2009

본 연구에서는 통행방향의 교차 상황이 발생하였을 때와 그렇지 않았을 때의 뇌파를 정량적으로 측정하여 보행자가 인지심리적 불편함을 느끼는지 여부를 알아보았다. 총 50명의 실험참가자에게 통행방향의 교차가 발생하는 영상 4개와 그렇지 않은 영상 4개를 무작위고 시청하게 하고 좌 우 전두엽, 좌 우 후두엽, 좌 우 측두엽, 중심엽 부위에서 나타나는 뇌파 신호를 추출하였다. 추출된 뇌파는 주파수 분석을 하여 alpha파 상대 스펙트럼 값, beta파 상대 스펙트럼 값, theta파 상대 스펙트럼 값을 계산하고 동선의 교차 여부에 대한 정량적 비교를 실시하였다. 실험 결과, 통행방향이 일관된 영상을 시청하였을 때 모든 부위에서 alpha파가 높게 나오는 경향을 보였다. 본 연구 결과는 통행방향이 좌/우로 교차할 때 교차하지 않는 상황에 비해 보행자가 인지심리적 더 스트레스를 느끼는 것으로 나타났다.

• 한국운동역학회지
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• 제26권2호
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• pp.221-228
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• 2016

Objective: The purpose of this study was to investigate differences in gait parameters and symmetry between walking speed by using the Froude number and preferred walking speed. Method: Fifty adults (age: $21.0{\pm}1.7years$, body weight: $71.0{\pm}9.2kg$, height: $1.75{\pm}0.07m$, leg length: $0.89{\pm}0.05m$) participated in this study. Leg length-applied walking speed was calculated by using the Froude number, defined as Fr = ${\upsilon}^2$/gL, where v is the velocity, g is the gravitational acceleration, and L is the leg length. Video data were collected by using eight infrared cameras (Oqus 300, Qualysis, Sweden) and the Qualisys Track Manager software (Qualisys, Sweden), with a 200-Hz sampling frequency during two-speed walking (preferred walking speed [PS] and leg length-applied walking speed [LS]) on a treadmill (Instrumented Treadmill, Bertec, USA). The step length, stride length, support percentage, cadence, lower joint angle, range of motion (ROM), and symmetry index were then calculated by using the Matlab R2009a software. Results: Step and stride lengths were greater in LS than in PS (p < 0.05). The right single-support percentage was greater in LS than in PS (p < 0.05). The hip joint angle at heel contact and toe-off were greater in LS than in PS (p < 0.05). The hip and knee joint ROM were greater in LS than in PS (p < 0.05). Conclusion: Based on our findings, we suggest that increased walking speed had a significant effect on step length, stride length, support percentage, and lower joint ROM.

• 대한물리치료과학회지
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• 제18권2호
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• pp.29-40
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• 2011

Purpose: The purpose of this study was to analyze the changes of parameters of foot contact by various carrying a pack methods during walking. Method: The subjects were consisted of normal forty four persons (males 30, females 14, mean age 23). The carrying a pack methods were classified into five conditions: carrying no bag(Con 1), carrying a backpack(Con 2), carrying a shoulder bag(Con 3), carrying a cross bag(Con 4), carrying a one-hand bag(Con 5). All subjects were participated in these five condition and measured foot pressure by F-scan system during walking. Then foot contact time, foot contact area, foot contact length and width were measured and analyzed. The repeated one-way analysis of variance (ANOVA) was used to get difference between conditions and independent t-test was used to get difference between left and right foot within condition. Result: In the comparison of parameters of foot, contact time, contact area and mid foot width were significantly different between conditions(p<.05), and in both foot contact time at condition 5 showed the most significant reduction(p<.05). In the comparison of parameters of foot between left and right foot within condition, every conditions were not significantly different(p>.05). Conclusion: In this study various carrying methods changed the parameters of foot contact and showed significant difference in some articles between carrying methods. However, asymmetric load of pack by carrying methods didn't affected symmetry of parameters of foot contact between left and right foot.

• 대한물리의학회지
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• 제5권1호
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• pp.15-24
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• 2010

Purpose : The purpose of this study was to investigate the effect of loading position on plantar center of pressure(COP) displacement when carrying a schoolbag during walking. Methods : Forty-four normal subjects were randomly assigned to five groups according to the method of carrying a schoolbag. The carrying a schoolbag methods were classified into five conditions: no bag (condition 1), a backpack (condition 2), a shoulder bag (condition 3), a cross bag (condition 4), a one-hand bag (condition 5). COP displacement such as anteroposterior distance and mediolateral distance of COP were measured with F-scan system. The repeated one-way analysis of variance (ANOVA) and independent t-test were used to confirm the statistical significance. Results : In the comparison of parameters of COP displacement between conditions, anteroposterior distance and mediolateral distance in the left foot and mediolateral distance in the right foot were not significantly different(p>.05), but anteroposterior diatance in the right foot was significantly different(p>.05). Between left and right foot, at condition 1 and 5 the mediolateral distance of COP was significantly different(p<.05) but anteroposterior distance at condition 1 and 5, anteroposterior distance and mediolateral distance of COP at condition 2, 3 and 4 were not significantly different(p>.05). Conclusion : These findings showed that the various loading position by five types of carrying a schoolbag didn't have influence significantly on COP displacement on during walking because of mechanism of postural adaption.

• 문화기술의 융합
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• 제10권4호
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• pp.235-240
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• 2024

건강한 노년을 위해 중년부터 건강 관리를 해나가야 한다. 본 연구의 목적은 중년여성들이 시간과 장소에 구애 받지 않고 간단한 운동을 통해 최대 효과를 볼 수 있는 운동 프로그램을 적용하여 보행메커니즘에 미치는 영향을 확인하고자 시행되었다. 연구대상자는 45세 이상 중년 여성을 대상으로 종아리 강화 운동 그룹 10명, 대조군 10명으로 총 20명을 선정하였다. 종아리 강화 운동군의 운동 전후를 비교한 결과 step length 좌측과 우측 그리고 double support, step time(좌), speed가 향상되었다. 운동 후 종아리 강화 운동군과 비운동 그룹의 보행메커니즘을 비교한 결과 step length 좌측과 우측, step time 좌측과 우측이 향상되었다. 시간 및 장소에 특별히 구애 받지 않는 종아리 강화 운동을 통해 보행메커니즘의 긍정적 효과를 보였다. 특히 보폭은 넓어져 하지의 힘이 생기고 한발 지지구간은 짧아져 보행의 속도는 증가한 것으로 나타나 의미 있는 결과를 도출했다고 판단한다. 향후 연구에서는 청소년, 노년 층 등 전 연령에 걸쳐 평가하여 생애주기 별 측정데이터를 제시하고 평상시 운동 부족으로 사회적 문제를 야기하는데 있어 기초자료로 제공하는 것이 바람직할 것으로 사료된다.

• 한국운동역학회지
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• 제21권3호
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• pp.289-296
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• 2011

The purpose of this study was to quantify the biomechanical characteristics of the ground reaction force(GRF) during the Taekwondo's Apkubi, one of the basic movement in Taekwondo and the walking. The GRF profiles under the stance foot of Apkubi movement and walking were directly measured in sample of 20 healthy older persons. In the anterior-posterior and vertical direction, the GRF of the Apkubi movement reached to the peak braking force at 10% of the normalized stance time percent and the peak driving force at 90% of stance time, but that of the walking reached to the peak braking force at 20% of stance time and the peak driving force at 80% of stance time. In vertical force, the GRF of the walking showed two peak values, but that of the Apkubi movement seemed three peak values. Moreover the first peak vertical force was significantly(t=6.085, p<.001) greater in the walking(about 1.8 times of body weight) than the Apkubi(about 1.4 times of body weight). The walking velocity was affected significantly(over p<.05) by the braking impulse, the peak braking force and the first peak vertical force. Futhermore the peak braking force in the Apkubi showed a significant effect on the Apkubi's stride length(p<.01). So, we concluded that the braking force after the right touch down, the stance foot on the ground contributed to move the leg forward.

• 대한물리의학회지
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• 제15권2호
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• pp.49-56
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• 2020

PURPOSE: This study examined the difference in muscle activity of the trunk and legs during flat walking with or without an abdominal drawing-in maneuver. METHODS: This study was conducted on 15 healthy males and eight females who were attending D University in Busan. This experiment was conducted after 15 minutes of abdominal drawing-in training using a pressure biofeedback unit before the experiment, and the difference in the muscle activity of the trunk and legs during flat walking with or without an abdominal drawing-in technique was investigated. Surface electromyography was used, and the electrode attachment site was the right sternocleidomastoid muscle, splenius capitis muscle, rectus abdominis muscle, external abdominal oblique muscle, transverse abdominis muscle, erector spinae muscle, vastus medialis muscle, and vastus lateralis muscle (TM DTS, Noraxon, USA). The data were analyzed statistically using a paired t-test on SPSS version 18.0 (IBM). RESULTS: The muscle activity of the rectus abdominis muscle, external abdominal oblique muscle, transverse abdominis muscle, vastus medialis muscle were increased significantly and maintained more than walking without maintaining an abdominal drawing-in maneuver (p < .05). Moreover, muscle activity of the erector spinae muscle was decreased significantly and maintained more than walking without maintaining an abdominal drawing-in maneuver (p < .05). CONCLUSION: Maintaining an abdominal drawing-in maneuver during flat walking is more effective during walking training.

• 한국기계가공학회지
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• 제20권11호
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• pp.74-79
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• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.