• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2368-2375
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• 2015

To accommodate various navigational commands, a humanoid should be able to change its walking motion in real time. Using the modifiable walking pattern generation (MWPG) algorithm, a humanoid can handle dynamic walking commands by changing its walking period, step length, and direction independently. If the humanoid is given a command to perform an infeasible movement, the algorithm substitutes the infeasible command with a feasible one using binary search. The feasible navigational command is subsequently translated into the desired center-of-mass (CM) state. Every sample time CM reference is generated using a zero-moment-point (ZMP) variation scheme. Based on this algorithm, various complex walking patterns can be generated, including backward and sideways walking, without detailed consideration of the feasibility of the navigational commands. In a previous study, the effectiveness of the MWPG algorithm was verified by dynamic simulation. This paper presents experimental results obtained using the small-sized humanoid robot platform DARwIn-OP.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.5C
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• pp.415-421
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• 2005

Passive RFID tag does not have its own power, so it has very poor computation abilities and it can deliver signals in very short range. From the facts, most RFID Tag security schemes assumed that the backward channel from tags to a reader is safe from eavesdropping. However, eavesdroppers near a tag can overhear message from a tag illegally. In this paper, we propose a method to protect the backward channel from eavesdropping by illegal readers. The proposed scheme can overcome the problems of conventional schemes such as randomized tree walking, which have been proposed to secure tag information in tree-walking algorithm as an anti-collision scheme for RFID tags. We showed the efficiency of our proposed method by using an analytical model, and it is also shown that the proposed method can provide the probability of eavesdropping in some standardized RFID tag system such as EPCglobal, ISO, uCode near to '0'.

• The Journal of Korean Physical Therapy
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• v.34 no.1
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• pp.45-50
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• 2022

Purpose: The purpose of this study was to compare the spatiotemporal and kinematic gait parameters and muscle activity of the lower extremities between forward walking on sand (FWS) and backward walking on sand (BWS) in normal adults. Methods: This study was conducted on 13 healthy adults. Subjects performed FWS and BWS and the spatiotemporal and kinematic gait parameters of stride time, stride length, velocity, cadence, step length, stance, swing, double support, and hip range of motion (ROM), knee ROM were measured by a wearable inertial measurement unit system. In addition, the muscle activity of the rectus femoris (RF), biceps femoris (BF), tibialis anterior (TA), and gastrocnemius (GA) was measured. Results: The stride length, stride velocity, cadence, and step length in the BWS were significantly lower than FWS (p<0.05), and stride time was significantly greater (p<0.05). However, there was no significant difference in the ratio of stance, swing, and double support between the two (p>0.05). The kinematic gait parameters, including hip and knee joint range of motion in BWS, were significantly lower than FWS (p<0.05). The muscle activity of the RF in BWS was significantly higher than FWS (p<0.05), but the muscle activity of the BF, TA, GA did not show any significant differences between the two movements (p>0.05). Conclusion: A strategy to increase stability by changing the gait parameters is used in BWS, and this study confirmed that BWS was a safe and effective movement to increase RF muscle activity without straining the joints. Therefore, BWS can be recommended for effective activation of the RF.

• 대한정형외과스포츠의학회:학술대회논문집
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• 2004.09a
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• pp.1-1
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• 2004

• Physical Therapy Rehabilitation Science
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• v.6 no.3
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• pp.120-126
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• 2017

Objective: The purpose of this study was to investigate the effects of backward treadmill gait training between underwater and ground environments on strength, proprioception, and walking ability in persons with stroke. Design: Randomized control trial. Methods: Twenty eight subjects participated in the study in which they were randomly assigned to either the underwater backward treadmill training (UBTT) group (n=13) or the BTT group (n=15). In both groups, forward gait training was performed for 20 minutes on the ground treadmill. The UBTT group performed backward gait on an underwater treadmill for 20 minutes while the BTT group performed backward gait on a ground treadmill for 20 minutes. The gait training in each group was performed twice a week for a total of six weeks. Muscle strength, proprioception, and gait ability was assessed using a digital power meter, joint angle recurrence method using the smartphone protractor application, the Figure-of-Eight walk test (F8W) and the functional gait assessment (FGA) respectively. Results: Both groups showed significant improvement in strength, F8W and FGA scores after training (p<0.05). However, there was no statistically significant difference between the two groups. Both groups showed significant improvement in proprioception after training (p<0.05). In the comparison between the two groups, there was a greater significant change in the UBTT group for joint proprioception (p<0.05). Conclusions: In this study, it was found that both backward treadmill gait training programs were effective on strength, proprioception, and gait ability, and that underwater training was particularly effective on proprioception compared to ground training.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.11
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• pp.7285-7292
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• 2015

The purpose of this study was to investigate possibility of a forward gait with backward mechanism(dance gait) as rehabilitation and/or walking exercise by means of biomechanical variables. Thirteen professional women dancers(age, $21.1{\pm}1.3yrs$; height, $159.3{\pm}7.2cm$; body mass, $45.1{\pm}8.4kg$)participated in this study. We found that speed, stride length and double limb support time of a dance gait were more greater than backward gait, but stride width of dance gait less than a backward gait. Maximum RoMs, moments and powers of the lower limb joints on a dance gait were more frequent than a backward dance. These results were judged to be sufficient by the possibility of dance gait as rehabilitation and walking exercise.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.751-758
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• 2016

The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently. When an infeasible command is given, the algorithm changes the command to a feasible one. After the feasibility of the navigational command is checked, it is translated into the desired center of mass (CM) state. To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions. Based on the proposed algorithm, various complex walking patterns were generated, including backward and sideways walking. The effectiveness of the patterns was verified in dynamic simulations using the Webots simulator.

• Journal of International Academy of Physical Therapy Research
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• v.4 no.2
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• pp.566-572
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• 2013

This study aims to compared effect of balance between general walking exercise and power walking exercise. Twenty subjects were classified into two groups, general walking exercise(n=10) and power walking exercise(n=10). As a result, two group showed difference within the group and there is significant difference between two groups. 1) In compared static balance of sway area at pre-post test to exercise group, general walking exercise group did not change significantly. however, power walking exercise group did change significantly. and At sway distance, two group showed significant changes. 2) In compared Static balance between the groups sway area and sway path at pre-post test, two group showed significant changes. 3) In compared dynamic balance of center distance at pre-post test to exercise group, general walking exercise group was no significant difference in all directions. power walking exercise group was significant difference in all directions. 4) In compared dynamic balance between the groups sway area and sway path at pre-post test, there was no significant difference in leftward, rightward, forward directions and was significant difference in backward, overall direction. Therefore, power walking exercise can be recommended promote balance.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.42-42
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• 2000

This paper concerns an efficient aperiodic static crab walking algorithm for quadruped walking machine in rough terrain. In this algorithm, the requirements for forward stability margin and backward stability margin could be given differently in order to consider the slope of terrain and disturbances resulting from moving velocity. To restrict the searing regions for motion variables, such as moving distances until a leg is lifted or is placed, the standard leg transferring sequence is decided to be that of wave gaits. standard support pattern is also proposed that enables the quadruped to continue forward motion using the standard leg transferring sequence without falling into deadlock.

• Journal of The Korean Society of Integrative Medicine
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• v.9 no.3
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• pp.135-144
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• 2021

Purpose : The purpose of this study was to investigate the effect of 2 weeks of backward walking exercise (BWE) on cervical angle and gait parameters in college students with forward head posture. Methods : Fifteen subjects participated in the experiment. All the participants had a craniovertebral angle (CVA) of 55 degrees or less. The purpose of the study was explained to all the subjects prior to participation, and volunteered to take part in the study. A camera capable of taking pictures of the lateral plane was installed at a distance of 1.5 meters from each subject. Images of forward head posture were obtained before and after performing the BWE, and the CVA and craniorotational angle (CRA) were compared pre- versus post exercise. Foot pressure and gait parameters (step length of left and right, stride length, stance of left and right, swing of left and right, step time of left and right, and stride time) were measured using a rehabilitation treadmill. The subjects performed the BWE for 2 weeks. The exercise program consisted of a 5-minute warm-up exercise, 20-minute main exercise, and 5-minute cool-down exercise. In the main exercise, the treadmill speed was set to 2.4 km/h in the first week and 3.4 km/h in the second week. A paired t test was used to compare the CVA and CRA and gait parameters before and after the exercise. Results : Comparison of the CVA and CRA before and after the BWE revealed a significant difference post exercise, with a marked improvement in forward head posture after the exercise (p<.05). Conclusion : Based on the results of this study, the BWE is considered to be an effective exercise for the forward head posture. Also, additional research is needed to shed light on the impact of the BWE on gait parameters.