• The Journal of Korean Physical Therapy
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• v.26 no.1
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• pp.27-32
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• 2014

Purpose: The purpose of the study was to comparison of trunk muscle activity during static standing position and standing position on therapeutic climbing wall of adult. Methods: Study subject is arbitrarily classified into 10 of experimental group and 10 control group among 20 of adult. Trunk activity measured as rectus abdominalis, external oblique, internal oblique, erector spinae. Control group maintains that center of gravity of trunk pass the front of shoulder, pelvis, knee and ankle on stable surface with putting legs apart more than shoulder width. Experimental group had static exercise on 4 by 3 meter, 90 degree of Therapeutic climbing wall. Starting position is that putting arms and legs apart more than shoulder width. In order to compare the effect of it between the groups, independent t-test was used. Results: According to the test result, significant difference between among rectus abdominalis, erector spinae the experimental groups. And external oblique, internal oblique muscle atvity is no significant difference experimental groups between among the control groups was observed. Conclusion: Trunk muscle activation is activated to standing position on the Therapeutic Climbing Wall more than static standing position.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.177-185
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• 2010

In this paper, a wall climbing robot, called LAVAR, is developed, which is using an impeller for adhering. The adhesion mechanism of the robot consists of an impeller and two-layered suction seals which provide sufficient adhesion force for the robot body on the non smooth vertical wall and horizontal ceiling. The robot uses two driving-wheels and one ball-caster to maneuver the wall surface. A suspension mechanism is also used to overcome the obstacles on the wall surface. For its design, the whole adhering mechanism is analyzed and the control system is built up based on this analysis. The performances of the robot are experimentally verified on the vertical and horizontal flat surfaces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.433-434
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.245-246
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.235-236
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.233-234
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.239-240
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• 2010

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.7
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• pp.725-732
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• 2013

This paper presents a torque distribution algorithm for improving the stability and mobility of a wall-climbing robot platform. During ascent, the pitch moment caused by the payload or external disturbances separates the robot's triangular tracks from the wall, significantly deteriorating its stability. Moreover, the reaction forces stemming from the increase in the pulling force may degrade the robot's mobility. Thus, it is very important to minimize the reaction forces acting on the triangular tracks, as well as the fluctuations in the pulling force, during the climb. Through dynamic modeling of the proposed robot platform, we demonstrated the dependence of the robot's stability and mobility on the torque distribution of the triangular tracks. Extensive simulations using different climbing speeds were used to significantly improve the stability and mobility of the proposed robot platform.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.