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스마트 보행분석을 위한 깔창 형태의 전기용량성 압력센서 개발
우현수(Hyunsoo Woo),민세동(Se Dong Min) 한국컴퓨터정보학회 2012 한국컴퓨터정보학회 학술발표논문집 Vol.20 No.2
본 논문에서는 인간의 가장 기본적이며 기초적인 운동인 걸음걸이로부터 검출할 수 있는 걸음 수 및 보행분석을 위해 전도성 섬유를 이용한 전기용량성압력 센서를 깔창형태로 개발하였다. 개발된 깔창 형태의 센서는 보행시의 압력을 측정하여 보행신호를 검출하고, 검출된 신호를 이용하여 걸음 수 및 보행 분석을 실시하였다. 개발된 센서의 성능 검증을 위하여 상용 만보계 및 관찰자의 수계로 도출된 보수를 비교하였으며, 자세에 따른 압력차이를 측정하였다. 기존의 상용 만보계는 저속(1 Km/h)으로 걸었을 때 보수가 잘 측정되지 않은 반면 개발된 센서는 저속에서도 관찰자 수계대비 정확한 보수를 도출 할 수 있었다. 또한 자세에 따라 압력 값을 토대로 사용자의 자세를 모니터링 할 수 있음을 보였다. 본 연구는 향후 스마트폰과 무선 연동하는 스마트 보행관리 시스템을 개발하기 위한 기초연구이다.
로봇 중재 시술을 위한 하이퍼-리던던트 로봇의 강성 및 형상 변형에 관한 연구
김기영(Kiyoung Kim),우현수(Hyunsoo Woo),조장호(Jang Ho Cho),신민기(Minki Shin),서정욱(Jungwook Suh) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.11
Continuum manipulators or hyper-redundant manipulators are commonly used for steerable endoscopes and robotic catheters. Hyper-redundant manipulators are composed of many rigid links and joints, which can be actuated by embedded motors or by transmission components such as tendons and spring sheaths. This article describes a mathematical model of a hyper-redundant manipulator with rolling contact joints. The position and orientation of each discrete link of the hyper-redundant manipulator is calculated using a transformation matrix, and the moment equations of the joints are solved by numerical analysis. The shape deformation of the manipulator under a lateral force is calculated and the theoretical stiffness on the lateral force is determined. We compare the stiffness obtained by experiments with theoretical values. The lateral deformation has an error of up to 7.1 mm, and the lateral stiffness is within an error range of 9%. Stiffness analysis of the hyper-redundant manipulator is expected to predict the motion of the manipulator during robotic interventions.
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.
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.