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근골격 모델을 이용한 평발환자의 보행 중 내외측 발목 접촉력 예측 및 비교
김정원(Jeongwon Kim),이기욱(Giuk Lee),이경민(Kyoung Min Lee),구승범(Seungbum Koo) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
The tibiotalar joint of the most flatfoot patients has a valgus deformity. Because of the curved deformity, the contact force in the tibiotalar joint would be different from that of normal subjects resulting in pain at the joint. In this study, the contact force in the tibiotalar joint was estimated using a musculoskeletal model. Ten normal and ten flatfoot patients volunteered for this study. We recorded the kinematics of the subjects using a motion capture system, ground reaction force, and foot pressure using a force plate and a pressure mat. The talar dome was divided into medial and lateral regions. Three reaction elements were placed in each region to estimated the contact force in the region. The mean and peak contact forces in the lateral region in the flatfoot were larger than those in the normal subjects. Also, the total contact force of the tibiotalar joint was larger than that of normal subjects.
높은 유효하중 능력과 다양한 벽면전환 능력을 가진 다관절 등반로봇의 개발 및 추종제어
오종균(Jongkyun Oh),이기욱(Giuk Lee),김종원(Jongwon Kim),서태원(TaeWon Seo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.