Recognition of Walking Intention Using Multiple Bio/Kinesthetic Sensorsfor Lower Limb Exoskeletons

Eun-Hye Jang,Young-Jo Cho,Su-Young Chi,Jae-Yeon Lee,Sang Seung Kang,Byung-Tae Chun 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

In order to assist the lower limb disabled people to walk, walking-support exoskeletons with bio/kinesthetic sensors such as EMG (Electromyography), gyroscope, and FSR (Force Sensing Resistor) have been developed. It is important to implicitly recognize the walking intention and control the walking-support mechanism. The objective of this work is to examine the walking intention while a person is walking with Lofstrand crutches by analyzing multiple bio/kinesthetic sensor signals. We developed watch/glove and shoe-insoles sensor modules using FSR sensors to recognize the user’s walking states as well as intention to walk. The FSR signals measuring force at the palm and Gyro sensor signals reflecting the pose of the upper limb were used as clues for recognizing walking intention. While seventeen normal subjects walked for five gate cycles based on the triped walking (i.e., placing crutches in forward and then moving one step ) with crutches, the FSR and Gyro signals were acquired from their palms and area of vertebrae lumbales. The result showed that the combination of FSR and Gyro signals could recognize user’s implicit intention to walk - start walking, keep walking, and stop walking.

구글 스트리트 뷰와 딥러닝을 활용한 보행 친화적 환경이 여가보행에 미치는 영향 평가 - 서울특별시 용산구를 대상으로 -

이다연,이지윤,이재호 한국조경학회 2024 한국조경학회지 Vol.52 No.4

This study aims to distinguish between utilitarian walking and leisure walking activities and analyze the correlation between these types of walking and the walking environment. To measure the walking environment, we utilized Google Street View (GSV) and employed semantic segmentation deep learning techniques to quantitatively assess urban walking environment elements as perceived by pedestrians. A survey was conducted to measure utilitarian walking, leisure walking, and perceived walking environment satisfaction, collecting valid responses from 192 participants. Using the survey data, we visualized utilitarian walking, leisure walking, and perceived walking environment satisfaction, and analyzed the correlation between these variables and the walkability scores. The results indicated that leisure walking had a significant positive correlation with walkability (Pearson's r = 0.121, p-value = 0.012), while there was no significant correlation between utilitarian walking and walkability (Pearson's r = 0.093, p-value = 0.055). These findings suggest that people prioritize mobility efficiency over the walking environment for utilitarian walking, whereas the quality of the walking environment significantly influences the frequency of leisure walking. Based on these results, the study proposes specific strategies to improve the walking environment around residential areas to promote leisure walking. These strategies include creating vertical gardens or various forms of three-dimensional gardens on narrow walkways and improving sidewalk design. The findings of this study can contribute to promoting leisure walking by creating walk-friendly environments, ultimately enhancing urban sustainability and the quality of life for residents. 본 연구는 보행 활동을 일상보행(utilitarian walking)과 여가보행(leisure walking)으로 구분하고, 보행 유형과 보행환경 간의 상관관계를 분석하고자 한다. 연구 대상지는 서울특별시 용산구로, 보행환경 측정을 위해 구글 스트리트 뷰(Google Street View: GSV)와 의미론적 분할(semantic segmentation) 딥러닝 기법을 활용하여 보행자가 실제로 체감하는 도시 보행환경 요소들을 정량적으로 산출하였다. 일상보행과 여가보행, 인지적 보행환경 만족도를 측정하기 위해 설문조사를 실시하여 192명의 유효 응답을 수집하였고, 설문 응답 데이터를 바탕으로 일상보행, 여가보행, 보행환경 만족도를 시각화하고, 보행친화도 값 간의 상관관계를 분석하였다. 연구 결과, 여가보행과 보행친화도는 유의미한 양의 상관관계를 보였으나(Pearson's r= 0.121, p-value= 0.012), 일상보행과 보행친화도 간에는 유의미한 상관관계가 없었다(Pearson's r= 0.093, p-value= 0.055). 이는 사람들이 일상보행에서는 보행환경보다 이동 효율성을 더 중요하게 고려하지만, 여가보행에서는 보행환경의 질을 고려하여 보행 빈도가 결정된다는 결과를 보여준다. 이러한 결과를 바탕으로 본 연구는 여가보행을 증진시키기 위해 주거지 주변의 보행환경을 개선하는 방안으로, 좁은 보행로에 수직 정원이나 다양한 형태의 입체적 정원을 조성하고, 보도 디자인을 개선하는 등의 구체적인 전략이 필요함을 제시한다. 본 연구 결과는 보행 친화적인 환경 조성을 통해 여가보행을 활성화하고, 궁극적으로 서울시의 지속 가능성과 주민들의 삶의 질을 향상시키는 데 기여할 수 있을 것이다.

10주간의 걷기운동이 비만대학생의 Body Fat mass, Body fat, VFA, Foot Presser 및 Body Balance에 미치는 영향

권정현(Kwon, Jeong-Hyun) 한국체육과학회 2020 한국체육과학회지 Vol.29 No.2

This study compared and analyzed the changes of Body Fat mass, Body fat, VFA, Foot Presser and Body Balance before and after the five-day walk exercise for 10 weeks and obtained the following conclusion. 1. The change in Weight(㎏) resulted in a decrease of about 0.59 % from 96.16±16.44 ㎏ before the walking exercise to 95.60±15.18㎏ after the walking exercise, but did not show any significant difference. 2. Body Fat Mass(㎏) change decreased by 1.60 % from 37.06±8.14 ㎏ before walking exercise to 36.47±7.05 ㎏ after walking exercise, but did not show any significant difference. 3. The change in Body Fat(%) resulted in a decrease of about 1.12 % from 38.60±3.72 % before the walking exercise to 26.84±2.41 % after the walking exercise, but did not show any significant difference. 4. VFA(㎠) changes reduced by about 1.54 % from 150.81±27.71㎠ before the walking exercise to 148.49±26.23㎠ after the walking exercise, but did not show any significant difference. 5. The change in Foot(L)front press(㎏/㎡) decreased by approximately 6.90 % from 28.83±22.63(㎏/㎡) before the walking exercise to 26.84±2.41(㎏/㎡) after the walking exercise, but showed no significant difference. 6. The change in Foot(L)rear pressure(㎏/㎡) resulted in a decrease of about 5.86 % from 20.31±1.94 (㎏/㎡) before the walking exercise to 19.12±4.26(㎏/㎡) after the walking exercise, but showed no significant difference. 7. The change in Foot(R)front press(㎏/㎡) resulted in a decrease of about 6.27 % from 30.4±3.73 (㎏/㎡) before the walk-off to 28.53±2.76(㎏/㎡) after the walk-off, but showed no significant difference. 8. The change in Foot(R)rear pressure(㎏/㎡) increased by approximately 23.97 % from 20.56±4.13 (㎏/㎡) before the walking exercise to 25.49±2.54(㎏/㎡) after the walking exercise(P<.01). As such, this study is believed to have had a positive impact on changes in Body Fat Mass, Body Fat, VFA, Foot Presser and Body Balance before and after the 10-week 5-day walk week for obese college students, and needs to develop various exercise programs.

보행환경에 관한 국내 연구와 정책 흐름 고찰

서자유,김한배 한국경관학회 2019 한국경관학회지 Vol.11 No.1

Walking in the city is the walking and rights of people passing through the sidewalk in the automobile-centered society. This action has the power to change urban space and system. This study is about the flow of domestic policies and research on the walking environment. The subjects and methods of the study were time series of changes in domestic policies and researches from the time when automobile traffic became common. In the 1960s and 1970s, walking is an end of walking that is not protected by cars. There is only automobile-oriented law and research, but awareness and research on walking is a rare period. In the 1990s, when the right to walk is recognized, walking is revived. The seriousness of the pedestrian activity and the demands of civil society have led to the enactment of ordinances and policy projects. Since 2000, various policies and projects have been activated and the walking culture has spread. Until now, walking has been recognized as a means of transportation and a consensus on the need to improve the walking environment, but there is a continuing movement to reduce the number of cars and encourage more walking. Whether it has been claimed as a side effect of modern city form and automobile-centered culture, half a century of European society and half of the time spent by Europe in Korea. The spread of the walking culture has succeeded, but walking as a means of transportation has not gained sympathy. However, this era, which has urban traffic problems, environmental problems, and human safety issues, calls for continuous expansion of walking policy.

운동역학 : 보행 시 폴의 사용이 하지 근육 활동에 미치는 영향 분석

양창수(ChangSooYang),채원식(WoenSikChae) 한국체육학회 2005 한국체육학회지 Vol.44 No.6

The purpose of this study was to determine the effect of the walking pole on the lower limb muscles. Fourteen subjects performed walking exercise at a cadence of 110 beats/min, without pole, with one pole, and with two poles, respectively. For each variable, a one-way analysis of variance (ANOVA) was used to determine whether there were significant differences among the three types of walking. When a significant difference was found in walking type, post hoc analyses were performed using the tukey procedure. A confidence level of p < .05 was used to determine statistical significance. The results showed that significant changes in averaged IEMG values occurred with walking with one pole in the vastus medialis and the lateral gastrocnemius during the IDLS phase, and in the lateral gastrocnemius during the TDLS phase. During the TDLS phase, walking with two poles produced a significantly lower Averaged IEMG values than normal walking in the medial gastrocnemius. The results also found that the peak IEMG activity of the tibialis anterior and the lateral gastrocnemius during ISLS phase for walking with one pole and two poles was significantly lower than the corresponding values in the normal walking, while the walking with one pole and two poles exhibited a significant difference with the normal walking in the medial and lateral gastrocnemius muscles during TDLS phase. In general, the walking with pole influenced the average IEMG and Peak IEMG values of most triceps surae. The use of walking poles alleviated some stress from the ankle joint and allowed reduced activity in triceps surae. This reductions seen walking with poles compared with the normal walking were caused primarily by the force applied to the pole before and after heel strike. It is concluded that walking poles do not seem to exert a more expressive influence in the knee joint than in the ankle joint. This study suggest that further research is necessary to determine the effectiveness of walking poles on the EMG activity of leg muscles during walking on the ramp. These data also serve as a guide for clinicians when considering incorporation of walking poles into patient management.

12주간의 10,000보 걷기운동이 비만대학생의 신체조성, 심박수 및 혈압에 미치는 영향

권정현(Kwon, Jeong-Hyun) 한국체육과학회 2017 한국체육과학회지 Vol.26 No.4

The purpose of this study was to investigate the effects of body composition, metabolic rate, blood pressure, and resting heart rate on obesity college students, Results The following conclusions were obtained. 1. Changes in body composition showed a decrease of about 1.0% from 83.95±23.89 kg before walking to 83.12±23.70 83.12±23.70 kg after walking, but no statistically significant difference was found. In the change of BMI(kg/m²), there was a statistically significant difference at 29.26±6.79kg/m² before walking, and about 0.7% at 29.05±6.80kg/m² after walking. Body fat(%) decreased from 36.56±4.48(%) before walking to 35.76±5.07(%) after walking, but there was no statistically significant difference. 2. Changes in basal metabolic rate, blood pressure, and heart rate decreased by about 1.2% at 86.60 ±12.29b/min before walking and 85.60±8.44b/min after walking, but there was no statistically significant difference in RHR (bpm). In the change of basal metabolism (kcal), there was no statistically significant difference at 1506.80±285.88kcal before walking, and about 8.76% at 1376.40±517.11kcal after walking. In the change of systolic blood pressure(mmHg), it decreased by about 5.4% from 134.20±14.99mmHg before walking to 127.00±14.45mmHg after walking, but there was no statistically significant difference. However, the changes of diastolic blood pressure(mmHg) were decreased from 90.30±7.51mmHg before walking to 82.80±6.56mmHg after walking. There was statistically significant difference(p<.05). In this study, it is considered that the 12-week walking exercise program had a positive effect on body composition, blood pressure, and resting heart rate in obese university students.

The Evaluation of Beneficial Walking Elements to Identify Motivations for Walking Habit Formation

Max Hanssen,Muneo Kitajima,SeungHee Lee 한국감성과학회 2023 감성과학 Vol.26 No.2

This study aimed to build on past findings about differences in personal walking experiences by demonstrating what elements were beneficial to participants with different walking habits. Accordingly, this study established the relationships between valued walking elements and people’s motivation to walk, by dividing participants into three groups: Group W for people with a walking habit, Group HW for people who walk occasionally but not regularly, and Group NW for people who do not walk habitually. Participants walked a familiar and an unfamiliar route with a wearable device that recorded their heart-rate variability and electrodermal activity. Changes in the biometric data helped to identify the defining moments in each participant’s walk. Participants discussed these moments in one-on-one interviews with a researcher to pinpoint their valued walking elements. As a result, this study classified walking elements into six themes: “Surroundings,” “Social,” “Exploration,” “Route Plan,” “Physical Exercise,” and “Mental Thinking.” A walking habit development model was made to show how “Route Plan” and “Exploration” were beneficial to Group NW, “Social” and “Surroundings” were beneficial to Group HW, and “Route Plan,” “Mental Thinking,” and “Physical Exercise” were beneficial to Group W.

운동생리학 : 걷기와 달리기간 심박수, 수축기혈압 및 심부담도 비교

박평욱(PyungWookPark),이광식(KwangSikLee),신원태(WonTaeShin) 한국체육학회 2005 한국체육학회지 Vol.44 No.5

The purpose of this study is to compare the cardiac load between walking and running with the same O2 level. 11 male students majoring in physical education were optionally selected as the subject. In the first experiment, the graded exercise test was executed for walking and running to determine the changing point of economic efficiency for each exercise. In the second experiment, the subjects were performed to walk at the speed of the changing point of economic efficiency±1kph, and running speed was set by the same VO₂ of walking, respectively. HR and SBP were measured immediately after walking or running for 5 minutes with the selected speed and DP was calculated from HR and SBP. The results are as follows. 1) The HR of walking was higher than that of running with the same Vo₂ in changing point of economic efficiency-1kph. However, there wasn’t any significant difference between HR of walking with the changing point of economic efficiency+1kph and of running with the same VO₂. 2) For the SBP, there wasn’t any significant difference between walking with the changing point of economic efficiency-1kph and running with the same VO₂. However, the SBP of walking with the changing point of economic efficiency+1kph was higher than that of running with the same VO₂. 3) The DP of walking was higher than that of running with the changing point of economic efficiency-1kph and +1kph. The results represented that the DP is higher in walking than in running with the scope of the changing point of economic efficiency±1kph for walking and running, even if the VO₂ is the same. Thus, precautions should be needed when exercising with fast walking.

혈액 투석 환자의 운동 능력 평가를 위한 6분간 걷기와 WALK검사의 타당성

박선미,안석주,이지은,이상학,김용수,문화식,장윤식,방병기 대한신장학회 2001 대한신장학회잡지 Vol.20 No.3

Comparison of Lower Extremity Kinematics and Kinetics during Downhill and Valley-shape Combined Slope Walking

Jeong, Jiyoung,Shin, Choongsoo S. Korean Society of Sport Biomechanics 2016 한국운동역학회지 Vol.26 No.2

Objective: The purpose of this study was to determine the knee and ankle joint kinematics and kinetics by comparing downhill walking with valley-shape combined slope walking. Method: Eighteen healthy men participated in this study. A three-dimensional motion capture system equipped with eight infrared cameras and a synchronized force plate, which was embedded in the sloped walkway, was used. Obtained kinematic and kinetic parameters were compared using paired two-tailed Student's t-tests at a significance level of 0.05. Results: The knee flexion angle after the mid-stance phase, the mean peak knee flexion angle in the early swing phase, and the ankle mean peak dorsiflexion angle were greater during downhill walking compared with valley-shape combined slope walking (p < 0.001). Both the mean peak vertical ground reaction force (GRF) in the early stance phase and late stance phase during downhill walking were smaller than those values during valley-shape combined slope walking. (p = 0.007 and p < 0.001, respectively). The mean peak anterior GRF, appearing right after toe-off during downhill walking, was also smaller than that of valley-shape combined slope walking (p = 0.002). The mean peak knee extension moment and ankle plantar flexion moment in late stance phase during downhill walking were significantly smaller than those of valley-shape combined slope walking (p = 0.002 and p = 0.015, respectively). Conclusion: These results suggest that gait strategy was modified during valley-shape combined slope walking when compared with continuous downhill walking in order to gain the propulsion for lifting the body up the incline for foot clearance.