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발걸림 상황에서의 보행패턴 : 무게중심의 위치에 따른 무의식적인 회복전략 선택
김정민(Jeongmin Kim),곽문규(Moonkyu Kwak),황동환(Dongwhan Hwang),정지욱(Jiuk Jung),우현수(Hyunsoo Woo),이용구(Yongkoo Lee) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
The objective of this study was to find out what made differences in unconscious selection of recovery strategy when tripping over. Seven subjects, who did not have any lower extremity musculoskeletal disorder within one year prior to the study, participated in this study. Eight infrared cameras and one force plate were used to analyze the gait patterns. A remotely controlled pop-up obstacle to randomly trip over subjects was installed within pathway in front of the force plate. As a result, three types of recovery strategy were observed immediately after tripping over. An elevating strategy of lifting the tripped foot, was grouped into type-A₁ and type-A₂ with respect to swing phase time, maximum height of lower extremity, joint angle and moment, and joint angular velocity; meanwhile, a lowering strategy in which the tripped-foot was unable to surmount the obstacle was grouped as type-B. These three types were categorized in accordance with the COM position. The relative position between the supporting-foot and the COM was found to significantly impact the unconscious selection of recovery strategy when tripping over.
발목형 로봇의족의 발걸림 위험 제어를 위한 갑작스런 충돌 상황에서의 보행패턴 분석
김정민(Jeongmin Kim),곽문규(Moonkyu Kwak),황동환(Dongwhan Hwang),정지욱(Jiuk Jung),우현수(Hyunsoo Woo),이용구(Yongkoo Lee) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
This study was performed to analyze human gait strategy of tripping over in order to control the robotic ankle prosthetics under amputees tripping over. The subjects were 7 men, who had no serious foot musculoskeletal disease within 1 years prior to study. When tripping over, we found out there were three types of patterns of tripping over, which were classified into type A, type B and type C according to the distance from the obstacle to supporting foot. The distinction between type A and type C was also related to the position of center of mass. A situation of higher risk occurred when center of mass was forward to the supporting foot. At the moment the ankle of tripped foot rapidly acted dorsiflexion. Authors recommend that when an accidental collision with an obstacle occurs during walking, tripped robotic foots ankle should act dorsiflexion immediately.
발걸림 상황에서의 보행패턴 : 무게중심의 위치에 따른 무의식적인 회복전략 선택
김정민(Jeongmin Kim),곽문규(Moonkyu Kwak),황동환(Dongwhan Hwang),정지욱(Jiuk Jung),우현수(Hyunsoo Woo),이용구(Yongkoo Lee) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
The objective of this study was to find out what made differences in unconscious selection of recovery strategy when tripping over. Seven subjects, who did not have any lower extremity musculoskeletal disorder within one year prior to the study, participated in this study. Eight infrared cameras and one force plate were used to analyze the gait patterns. A remotely controlled pop-up obstacle to randomly trip over subjects was installed within pathway in front of the force plate. As a result, three types of recovery strategy were observed immediately after tripping over. An elevating strategy of lifting the tripped foot, was grouped into type-A₁ and type-A₂ with respect to swing phase time, maximum height of lower extremity, joint angle and moment, and joint angular velocity; meanwhile, a lowering strategy in which the tripped-foot was unable to surmount the obstacle was grouped as type-B. These three types were categorized in accordance with the COM position. The relative position between the supporting-foot and the COM was found to significantly impact the unconscious selection of recovery strategy when tripping over.