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RISS 인기검색어
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- 저자 : 이중빈(Jungbin Lee) (검색결과 3 건)
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무동력 이족보행 로봇에서 다리 무게 추 위치의 영향 연구
이중빈(Jungbin Lee),정해웅(Haewoong Jeong),강서호(Seoho Kang),조현준(Hyunjune Cho),권훈(Hoon Kwon),고현진(Hyeonjin Ko),정이환(Yihwan Jung),구승범(SeungBum Koo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This study investigated the effect of center of mass in the passive bipedal walker. We made a SimMechanics model of a passive bipedal walker and compared it with experimental data of the real physical bipedal walker. In this simulation, the effect of gravity, contact force and joints were implemented. We obtained the foot clearance and knee angular velocity in accordance with the center of gravity location in simulation. The foot clearance during swing phase increased as the center of mass of thigh and shank move lower and higher, respectively. Angular velocity of the knee decreased as the center of mass of thigh and shank move higher and lower, respectively.
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이중빈(Jungbin Lee),구승범(Seungbum Koo) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
Gait is important motion that contains biological information. Individual gait pattern is determined by subject’s habit, body type and diseases. Motion capture system is used to measure joint motion but is limited to capture within a laboratory. Optical camera is portable, simple to configure and take photographs of movement of a person, while it produces only two-dimensional information. The purpose of the study was to estimate three-dimensional pose and joint angles from two-dimensional sequential images of walking motion. Three-dimensional trajectories of body markers from three subjects and five motions were pooled together and their mean pose and principal components were obtained. One of the motion capture data was projected to a camera plane by assuming a fixed camera position. Optimizations to calculate a weight matrix of the principal components of body pose were performed with and without a constraint of body segment length to match the plane projected marker positions. Mean three-dimensional errors (standard deviation) of estimated marker trajectory were calculated using measured marker trajectory. Three-dimensional errors with and without constraint of body segment length were 3.44(±0.65) cm and 3.25(±0.80) cm, respectively. Two-dimensional errors (standard deviation) of projected marker to image were calculated using original image. Two-dimensional errors were 1.63(±0.41) pixel and 1.40(±0.38) pixel respectively. Flexion and extension angle of knee was estimated as RMS error, 2.54degree and 2.28degree respectively.
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