• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.30 no.1
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• pp.1-16
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• 2004

The use of artificial nerve conduit containing viable Schwann cells is one of the most promising strategies to repair the peripheral nerve injury. To fabricate an effective nerve conduit whose microstructure and internal environment are more favorable in the nerve regeneration than existing ones, a new three-dimensional Schwann cell culture technique using $Matrigel^{(R)}$. and dorsal root ganglion (DRG) was developed. Nerve conduit of three-dimensionally arranged Schwann cells was fabricated using direct seeding of freshly harvested DRG into a $Matrigel^{(R)}$ filled silicone tube (I.D. 1.98 mm, 14 mm length) and in vitro rafting culture for 2 weeks. The nerve regeneration efficacy of three-dimensionally cultured Schwann cell conduit (3D conduit group, n=6) was assessed using SD rat sciatic nerve defect of 10 mm, and compared with that of silicone conduit filled with $Matrigel^{(R)}$ and Schwann cells prepared from the conventional plain culture method (2D conduit group, n=6). After 12 weeks, sciatic function was evaluated with sciatic function index (SFI) and gait analysis, and histomorphology of nerve conduit and the innervated tissues of sciatic nerve were examined using image analyzer and electromicroscopic methods. The SFI and ankle stance angle (ASA) in the functional evaluation were $-60.1{\pm}13.9$, $37.9^{\circ}{\pm}5.4^{\circ}$ in 3D conduit group (n=5) and $-87.0{\pm}12.9$, $32.2^{\circ}{\pm}4.8^{\circ}$ in 2D conduit group (n=4), respectively. And the myelinated axon was $44.91%{\pm}0.13%$ in 3D conduit group and $13.05%{\pm}1.95%$ in 2D conduit group to the sham group. In the TEM study, 3D conduit group showed more abundant myelinated nerve fibers with well organized and thickened extracellular collagen than 2D conduit group, and gastrocnemius muscle and biceps femoris tendon in 3D conduit group were less atrophied and showed decreased fibrosis with less fatty infiltration than 2D conduit group. In conclusion, new three-dimensional Schwann cell culture technique was established, and nerve conduit fabricated using this technique showed much improved nerve regeneration capacity than the silicone tube filled with $Matrigel^{(R)}$ and Schwann cells prepared from the conventional plain culture method.

• Journal of the Korean Society of Physical Medicine
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• v.12 no.3
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• pp.119-130
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• 2017

PURPOSE: The purpose of this study is to determine, by conducting a 10 week hippotherapy, the effects on the physical, cognitive and psychological factors of children with intellectual disabilities. METHODS: As an intervention method, intervention was based on a program from the American Hippotherapy Association and was modified and enhanced. 16 children with intellectual disabilities was conducted horse riding intervention program and Intervention was conducted once a week for a total of 10 weeks with each session lasting 30 minutes. A doctor of rehabilitation medical treatment of D rehabilitation center, physical therapist and occupational therapist evaluated the upper limbs test, balance, gait function, Korea-mini mental state examination (MMSE) before and after hippotherapy intervention. Self-esteem scale and aggression scale was evaluated by Psychology Counseling of C psychological clinic before and after hippotherapy intervention. RESULTS: The results of this study reveal that first, there was a positive effect. Second, statistically significant differences were found in BBS, TUG, K-MMSE, 10m walking test, 6 min walking test, self-esteem scale and aggression scale (p<.05). However no statistically significant differences were found in upper limbs function and good balance analysis before and after intervention. CONCLUSION: The hippotherapy is effective way to improve the physical, cognitive and psychological factors of children with intellectual disability.

• Journal of Biomedical Engineering Research
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• v.32 no.1
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• pp.61-73
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• 2011

The purpose of this study was to investigate changes in the center of pressure (COP), ground reaction force (GRF) and joint angles of elderly people and young people while stair-descent. The participants in this experiment were 5 elderly people and 5 young people, each of which was asked to descend stairs of three different heights (8 cm, 16 cm, and 32 cm). As they climbed down the stairs, they received vibration stimulation on the lower limb. The change of COP, GRF and joint angles were analyzed during the standing phase. COP decreased as the Achilles tendon and tibialis anterior tendon were vibrated. Vertical GRF increased as the Achilles tendon was vibrated, and the joint angle differed according to vibration stimulation conditions. These results mean that ankle joint, knee joint and hip joint were influenced by the vibrations on the lower limb as the participants descended the stairs. It was concluded that the vibration stimulation on the lower limb allowed the participants to efficiently climb down the stairs.

• Journal of Biomedical Engineering Research
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• v.27 no.6
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• pp.323-331
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• 2006

The purpose of this study was to investigate the effect of performing a cognitive task during treadmill walking on the stride rate variability. Ten university students(age $24.0{\pm}0.25$, height $172{\pm}3.1cm$, weight $66{\pm}5.3kg$) were participated in dual task experiments which consist of both walking alone and walking with a cognitive task. Two-back task was selected for the cognitive task since it did not have learning effect during the experimental procedure.3D motion analysis system was used to measure subject's position data by changing walking speed with 4.8, 5.6, 6.4, 6.8, and 7.2 km/hr. Stride rate was calculated by the time between heel contact and heel contact. Accuracy rate of a cognitive task during walking, coefficient of variance, allometric scaling methods and Fano factor were used to estimated the stride rate variability. As the walking speed increased, accuracy rate decreased and the logarithmic value of Fano factor increased which showed the statistical difference. Thus it can be concluded that the gait control mechanism is distracted by the secondary attention focus which is the cognitive task ie. two-back task. Further study is needed to clarify this by increasing the number of subject and experiment time.

• Journal of Biomedical Engineering Research
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• v.28 no.1
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• pp.108-116
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• 2007

Recently, it has been reported that the posterior stabilized implant, which is clinically used for the total knee replacement (TKR), may have failure risk such as wear or fracture by the contact pressure and stress on the tibial post. The purpose of this study is to investigate the influence of the mal alignment of the posterior stabilized implant on the tibial post by estimating the distributions of contact pressure and von-Mises stress on a tibial post and to analyze the failure risk of the tibial post. Finite element models of a knee joint and an implant were developed from 1mm slices of CT images and 3D CAD software, respectively. The contact pressure and the von-Mises stress applying on the implant were analyzed by the finite element analysis in the neutral alignment as well as the 8 malalignment cases (3 and 5 degrees of valgus and varus angulations, and 2 and 4 degrees of anterior and posterior tilts). Loading condition at the 40% of one whole gait cycle such as 2000N of compressive load, 25N of anterior-posterior load, and 6.5Nm of torque was applied to the TKR models. Both the maximum contact pressure and the maximum von-Mises stress were concentrated on the anterior-medial region of the tibial post regardless of the malalignment, and their magnitudes increased as the degree of the malalignment increased. From present result, it is shown that the malalignment of the implant can influence on the failure risk of the tibial post.

• Journal of KIISE:Computing Practices and Letters
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• v.12 no.6
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• pp.358-366
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• 2006

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF programmable foot platforms. When a human walks on the locomotion interface (LI), the walking motions of the human are recognized by several sensors. Then, the sensed information is used by the LI for generation of infinite surfaces for continuous walking and the virtual environments for scene update according to motions of the human walking. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation. A novel navigation algorithm is suggested to allow natural navigation in virtual environments by utilizing conditions of normal gait analysis. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. From experiments, the subjects were satisfied with the reality of the suggested navigation algorithm using the locomotion interface. Therefore, the suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• The Journal of Korean Physical Therapy
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• v.30 no.1
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• pp.14-22
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• 2018

Purpose: This study examined the effects of the lower limb alignment on the pelvis, hip, and knee kinematics in people with genu varum during stair walking. Methods: Forty subjects were enrolled in this study. People who had intercondylar distance ${\geq}4cm$ were classified in the genu varum group, and people who had intercondylar distance <4cm and intermalleolar distance <4cm were placed in the control group. 3D motion analysis was used to collect the pelvis, hip, and knee kinematic data while subjects were walking stairs with three steps. Results: During stair ascent, the genu varum group had decreased pelvic lateral tilt and hip adduction at the early stance phase and decreased pelvic lateral tilt at the swing phase compared to the control group. At the same time, they had decreased minimal hip adduction ROM at the early stance and decreased maximum pelvic lateral tilt ROM and minimum hip rotation ROM at the swing phase. During stair descent, the genu varum group had decreased pelvic lateral tilt at the early stance and decreased pelvic lateral tilt and pelvic rotation at the swing phase. In addition, they had decreased pelvic frontal ROM during single limb support and increased knee sagittal ROM during the whole gait cycle. Conclusion: This study suggests that a genu varum deformity could affect the pelvis, hip and knee kinematics. In addition, the biomechanical risk factors that could result in the articular impairments by the excessive loads from lower limb malalignment were identified.

• The Journal of Korean Medicine
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• v.42 no.1
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• pp.75-98
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• 2021

Objectives: The purpose of this study is to investigate the characteristics, validity, and reliability of non-radiological assessment tools of scoliosis that have been studied so far. Methods: Electronic databases including Pubmed, Cochrane Library, CNKI, Science On, RISS, OASIS were searched by keywords including 'scoliosis assessment', 'scoliosis screening', 'physical examination', 'functional measurement', 'photography', and 'smartphone'. Results: 32 articles using radiation-free assessments were identified from 1,011 records. The mostly used non-radiological methods were Surface topography, Scoliometer, Ultrasound, Digital Infrared Thermal Imaging, and Photography. The other methods were Gait analysis, 3D depth sensor imaging, and Low intensity electromagnetic scan. Conclusions: It was found that non-radiological assessment tools might reduce the number of radiographs taken in scoliosis patients. To increase the reliability and validity, further research on the measurement tools of scoliosis will be needed.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.