• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.111-119
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• 2007

The purpose of this study was to investigate muscle activity and gait pattern in lower limb depending on the outsole of heel rockers. Fifteen healthy men volunteered for this experiment. Each subject performed totally three trails with two pairs of different heel rocker shoes and a pair of normal running shoes at speed of 1.33m/s for 1 minute during walking on a treadmill. Kinematic data gathered in 100Hz was recorded and analyzed by using the 3D motion capture system to measure the trunk tilt and joint angle of the right lower limb. And the lower extremity muscle activities were simultaneously recorded in 1000Hz and assessed by using EMG. The statistical analysis was the one-way ANOVA with the repeated measures to compare among the three kinds of shoes. The level of statistical significance for all tests was 0.05. Joint angle of lower limb was showed statistically significant different in MST(hip joint), LHS(ankle joint), and RTO(knee and ankle joint). Muscle activity of rectus femoris and biceps femoris was statistically increased in both heel rocker shoes during gait cycle on treadmill. The maximum peak time of tibialis anterior in the negative heel rocker showed the delay of approximately 23.8%time than normal shoes. Gait pattern variability of the negative heel rocker was increased in the first half of the stance phase and the variability of the positive heel rocker was increased in the terminal stance phase. In Conclusion, stability was decreased in between joints of lower limb on positive heel rocker than negative heel rocker. This study found that there were different joint angle, muscle activity, gait pattern and coordinate system of the lower limb in each kind of shoes. These unstability affected the lower extremity and the whole body. A further study has to be continued with study of rehabilitation and exercise for a long-term.

• Korean Journal of Applied Biomechanics
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• v.34 no.2
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• pp.53-62
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• 2024

Objective: The purpose of this study was to analyze the differences in kinematic factors according to stretching treatment, myofascial release treatment, and static stretching treatment conditions during squat. Method: Twelve males with resistance training experience participated in this study. Participants performed squats without treatment (Pre-Test), and performed squats after treatment with the myofascial release technique (MRT) and static stretching (SS) on different days (post-test). Squat movements were captured using eight motion capture cameras (sampling rate: 250 Hz), and the peak joint angles of the ankle, knee, hip, and pelvis were calculated for each direction. One-way repeated ANOVA and Bonferroni post hoc analyses using SPSS 27 (IBM Corp. Armonk NY, USA) were used to compare the peak joint angle of the lower extremity joints and pelvis among the normal condition (squat without treatment), MRT condition (squat after MRT treatment) and SS condition (squat after static stretching). The statistical significance level was set at .05. Results: It was observed that the maximum ankle joint flexion angle during squats was statistically reduced under conditions of myofascial release and static stretching (p<.05), in comparison to the scenario where no stretching was performed. Furthermore, static stretching was found to enhance the maximum hip flexion angle during squat (p<.05), whereas the myofascial release stretching technique resulted in the minimal posterior pelvic tilt angle (p<.05). Conclusion: Employing myofascial release stretching as a preparatory exercise proved to be more efficacious in maintaining body stability throughout the execution of high-intensity squat movements by effectively managing the posterior tilt of the pelvis, as opposed to foregoing stretching or engaging in static stretching.

• Journal of Biomedical Engineering Research
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• v.28 no.5
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• pp.647-656
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• 2007

The purpose of this study was to analyze the effects of vibratory stimulus as somatosensory inputs on the postural control in human standing. To study these effects, the center of pressure(COP) was observed while subjects were standing on a stable and an unstable support with co-stimulated mechanical vibrations to flexor ankle muscles(tibialis anterior tendon, achilles tendon) and two plantar zones on both foot. The COP sway measurement was repeated twice in four conditions: (1) with visual cue and vibration, (2) without visual cue and vibration, (3) with visual cue and without vibration, (4) without visual cue and with vibration. The calculated parameters were the COP sway area and the distance, the median frequency and the spectral energy of COP sway in three intervals $0.1{\sim}0.3,\;0.3{\sim}1,\;1{\sim}3Hz$. The results showed that vibratory stimulus affect postural stability. The reduction rate of the COP sway with vibratory stimulus were higher on the unstable support because the effect of postural stability increases when afferent nervous flow is more activated by vibration on unstable support. If unclear visual or vibratory information is received, one type of information is compared with the other type of sensory information. Then the input balance between visual and vibratory information is corrected to maintain postural stability. These findings are important for the rehabilitation system of postural balance control and the use of vibratory information.

• Fashion & Textile Research Journal
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• v.24 no.1
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• pp.156-163
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• 2022

Loss of leg muscle and muscle weakness, which are caused by aging, affect muscle function and sense of balance. As a way of preventing seniors from falling, we developed the idea of wearing functional supporters based on graduated compression technique and in the form of a taping supporter. Their impact on power, sense of balance, overcoming fatigue, and subjective wearing sensation was investigated. The following results were obtained. After wearing functional compression supporters, body temperature increased from 24.5 ± 0.5℃ to 26.3 ± 0.6℃. Calf size, which assesses the level of edema, decreased from 26.1 ± 1.8cm to 25.7 ± 1.8cm. The result of dynamic balance test, which helps estimate the fall prevention effect, increased from 6.4 ± 0.9sec to 7.1 ± 0.6sec. Lactate level, which indicates the level of fatigue, decreased from 8.1 ± 0.6mmol/L to 7.3 ± 0.8mmol/L. Standing long jump record, which assesses power, increased from 110.1 ± 3.1cm to 112.0 ± 2.8cm. Standing on one leg with eyes closed, which assesses sense of balance, increased from 4.2 ± 1.1sec to 6.5 ± 0.8sec. Ankle angle, which assesses joint stability, increased from 75.3 ± 4.0° to 80.1 ± 1.7°. In metabolism and physical performance testing, which assesses keep, the score increased from 26.3 ± 1.7 to 28.8 ± 1.2. Muscle supporting score, which assesses joint stability, increased from 7.3 ± 0.6 to 7.8 ± 0.4. In the category of body type, which assesses wearing sensation and body shaping function, the score increased from 5.7 ± 1.4 to 6.4 ± 1.2

• Journal of Korean Foot and Ankle Society
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• v.8 no.2
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• pp.126-130
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• 2004

Purpose: In this study, we tried to develop the technique of osteotomy for hallux valgus. The new modified technique of osteotomy was accomplished with even more greater stability, accurate correction of the deformity and more effective than 'chevron' osteotomy in terms of correction of the deformity. Materials and Methods: Between March 1998 and December 2001, 55 cases of new modified osteotomy for hallux valgus were performed for 39 patients, 16 of whom underwent operation of both feet. Operations were made for 34 women and 5 men whose average age was 46 years old (range, $20{\sim}71$ years). Average follow up period was three years (range, $2{\sim}5$ years), and during the follow up, the patients underwent physical examination and assessment with use of the American Orthpaedic Foot and Ankle Society's hallux-metatarso-phalangealinterphalangeal scale and standard foot radiographic measurements. Results: 37 patients (53 cases) out of 39 patients (55 cases) had no pain, good cosmesis, and all of the patients were satisfied with the results of the operation. Two had occasional mild discomfort. The average score according to the hallux-metatarso-phallangeal-interphalangeal scale was 93.2 points (range, $78{\sim}100$ points). The average preoperative intermetatarsal angle was $14.4^{\circ}$, which was decreased to $7.9^{\circ}$ after the osteotomy with an average correction of $6.5^{\circ}$ and The average preoperative hallux valgus angle was $34.1^{\circ}$, which was decreased to $11.1^{\circ}$ after the osteotomy with an average correction of $23^{\circ}$. This new modified technique would prevent the angulation or shortening at the osteotomy site and it was also even more stable at osteotomy site, and could do even more effective and accurate correction of the deformity than conventional Chevron osteotomy. Conclusion: New modified chevron osteotomy for the treatment of symptomatic hallux valgus was done in 55 cases, and the results were satisfactory in all cases. This method was more stable at the osteotomy site than conventional Chevron osteotomy and was also possible to do more accurate and more effective correction of the deformity. It was also easy to control the distal fragment of first metatarsal bone.

• Korean Journal of Applied Biomechanics
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• v.16 no.2
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• pp.1-8
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• 2006

The purpose of this study was to evaluate normalized jerk according to shoes, slope, and velocity during walking. Eleven different test subjects used three different types of shoes (running shoes, mountain climbing boots, and elevated forefoot walking shoes) at various walking speeds(1.19, 1.25, 1.33, 1.56, 1.78, 1.9, 2, 2.11, 2.33m/sec) and gradients(0, 3, 6, 10 degrees) on a treadmill. Since there were concerns about using the elevated forefoot shoes on an incline, these shoes were not used on a gradient. Motion Analysis (Motion Analysis Corp. Santa Rosa, CA USA) was conducted with four Falcon high speed digital motion capture cameras. Utilizing the maximum smoothness theory, it was hypothesized that there would be differences in jerk according to shoe type, velocity, and slope. Furthermore, it was assumed that running shoes would have the lowest values for normalized jerk because subjects were most accustomed to wearing these shoes. The results demonstrated that elevated forefoot walking shoes had lowest value for normalized jerk at heel. In contrast, elevated forefoot walking shoes had greater normalized jerk at the center of mass at most walking speeds. For most gradients and walking speeds, hiking boots had smaller medio-lateral directional normalized jerk at ankle than running shoes. These results alluded to an inverse ratio for jerk at the heel and at the COM for all types of shoes. Furthermore, as velocity increased, medio-lateral jerk was reduced for all gradients in both hiking boots and running shoes. Due to the fragility of the ankle joint, elevated forefoot walking shoes could be recommended for walking on flat surfaces because they minimize instability at the heel. Although the elevated forefoot walking shoes have the highest levels of jerk at the COM, the structure of the pelvis and spine allows for greater compensatory movement than the ankle. This movement at the COM might even have a beneficial effect of activating the muscles in the back and abdomen more than other shoes. On inclines hiking boots would be recommended over running shoes because hiking boots demonstrated more medio-lateral stability on a gradient than running shoes. These results also demonstrate the usefulness of normalized jerk theory in analyzing the relationship between the body and shoes, walking velocity, and movement up a slope.

• Journal of Digital Convergence
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• v.15 no.7
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• pp.297-306
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• 2017

The study was performed to determine the impact of the gastrocnemius taping with balance training on spasticity and balance ability of the ankle joint. A total of 25 stroke subjects were divided into two groups: a taping with balance training (n=14), a sham taping with balance training (n=11). Spasticity assesment was scored by modified ashworth scale. Balance ability assesment was performed by functional reach test (FRT), the timed up & go test (TUG). The stability index (SI), the left-right weight distribution (left-right WD), the toe-heel weight distribution (toe-heel WD) were analyzed in the eyes open conditions(EO) and eyes closed conditions(EC) conditions using by the Tetrax interactive balance system. The experimental group showed a significant improvement in SI, left-right WD and toe-heel WD in the EO and EC, MAS, FRT, TUG. In comparison between the groups, a significant improvement was detected in FRT, TUG, SI and left-right WD in the EO, and left-right WD and toe-heel WD in the EC. It was found out that a short period of balance training with taping is effective on spasticity and balance ability in stroke patients. Therefore, any stroke patient without skin damage is encouraged to use the gastrocnemius taping for balance rehabilitation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.132-135
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• 2002

In the present study, an electro-mechanical KAFO (knee-ankle-foot orthosis) which satisfies both the stability in stance and the knee flexion in swing was developed and evacuated in eight polio patients. A knee joint control algorithm suitable for polio patients who are lack of the stability in pre-swing was also developed and various control systems and circuits were also designed. In addition, knee flexion angles and knee moments were measured and analyzed for polio patients who used the developed KAFO with the three-dimensional motion analysis system. Energy consumption was also evaluated for the developed KAFO by measuring the movement of the COG (center of gravity) during gait. From the present study, the designed foot switch system successfully determined the gait cycle of polio patients and controlled knee joint of the KAFO, resulting in the passive knee flexion or foot clearance during swing phase. From the three-dimensional gait analysis for polio patients, it was found that the controlled-knee gait with the developed electro-mechanical KAFO showed the knee flexion of 40$^{\circ}$∼45$^{\circ}$ at an appropriate time during swing. Vertical movements of COG in controlled-knee gait (gait with the developed electro-mechanical KAFO) were significantly smaller than those in looked knee gait(gait with the locked knee Joint). and correspondingly controlled-knee gait reduced approximately 40% less energy consumption during horizontal walking gait. More efficient gait patterns could be obtained when various rehabilitation training and therapeutic programs as well as the developed electro-mechanical KAFO were applied for polio patients.

• Korean Journal of Applied Biomechanics
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• v.20 no.3
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• pp.267-275
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• 2010

The purpose of this study was to investigate the effects of balance ability improvement exercise program which applied to the elderly people for increasing balance, stability and range of motion. Ten elderly people and ten university students were recruited as the subjects. Kinematic data were collected by seven real-time infrared cameras while subjects walk stair descent as a pre-test. Korean folk dance exercise program was applied to the elderly for 12 weeks. Same experiment on stair descent walk was performed as post-test. Results indicated that CM movement and selected joint angle patterns of elderly group after treatment changed to the similar patterns of young group. However, ankle joint angle and vertical GRF of elderly group after treatment also increased compared to those of the elderly group before treatment. This might be explained by the fact that elderly used a different walking strategy which maximize support base for increasing stability. Overall, these results indicated that the exercise treatment may affect to adapt and improve the gait pattern of stair descent of elderly people.