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허지운(Ji Un Heo),김철승(Chul Seung Kim),엄광문(Gwang Moon Eom) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.3
The purpose of this study is to develop a gait-event detection system, which is necessary for the cycle-to-cycle FES control of locomotion. Proposed gait event detection system consists of a signal measurement part and gait event detection part. The signal measurement was composed of the sensors and the LabVIEW program for the data acquisition and synchronization of the sensor signals. We also used a video camera and a motion capture system to get the reference gait events. Machine learning technique with ANN (artificial neural network) was adopted for automatic detection of gait events. 2 cycles of reference gait events were used as the teacher signals for ANN training and the remnants (2∼5 cycles) were used for the evaluation of the performance in gait-event detection. 14 combinations of sensor signals were used in the training and evaluation of ANN to examine the relationship between the number of sensors and the gait-event detection performance. The best combinations with minimum errors of event-detection time were 1)goniometer, foot-switch and 2)goniometer, foot-switch, accelerometer x(anterior-posterior) component. It is expected that the result of this study will be useful in the design of cycle-to-cycle FES controller.
엄광문(Gwang-Moon EOM),이창한(Chang-Han LEE),김철승(Chul-Seung KIM),허지운(Ji-Un Heo) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.4
The purpose of this paper is to develop a more precise damper model of the joint for the quantification of the joint mechanical properties. We modified the linear damper model of a knee joint model to nonlinear one. The normalized RMS errors between the simulated and measured joint angle trajectories during passive pendulum test became smaller with the nonlinear damper model than those of the linear one which indicates the nonlinear damper model is better in precision and accuracy. The error between the experimental and simulated knee joint moment also reduced with the nonlinear damper model. The reduction in both the trajectory error and the moment error was significant at the latter part of the pendulum test where the joint angular velocity was small. The nonlinearity of the damper was significantly greater at thin subject group and this indicates the nonlinearity is a useful index of joint mechanical properties.