• Physical Therapy Rehabilitation Science
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• 제13권2호
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• pp.152-162
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• 2024

Objective: This study was conducted to analyze the effect of wearable Electromyography-controlled functional electrical stimulation (EMG-controlled FES) System on Gait Function and cardiopulmonary metabolic efficiency during walking in older adults. Design: Cross-section study Methods: Total 22 older adult participants suitable to selection criteria of this study participated in this study. The EMG-controlled FES System, which functions as a wearable physical activity assist FES system was used. All participations performed randomly assigned two conditions (Non-FES assist [NFA], FES assist [FA]) of walking. In all conditions, spatio-temporal parameters and kinematics and kinetics parameters during walking was collected via 3D motion capture system and 6 minutes walking test (6MWT) and metabolic cost during walking and stairs climbing was collected via a portable metabolic device (COSMED K5, COSMED Srl, Roma, Italy). Results: In Spatio-temporal parameters aspects, The EMG-controlled FES system significantly improved gait functions measurements of older adults with sarcopenia at walking in comparison to the NFA condition (P<0.05). Hip, knee and ankle joint range of motion increased at walking in FA condition compared to the NFA condition (P<0.05). In the FA condition, moment and ground reaction force was changed like normal gait during walking of older adults in comparison to the NFA condition (P<0.05). The EMG-controlled FES system significantly reduced net cardiopulmonary metabolic energy cost, net energy expenditure measurement at stairs climbing (P<0.05). Conclusions: This study demonstrated that EMG-controlled FES is a potentially useful gait-assist system for improving gait function by making joint range of motion and moment properly.

• The Korean Journal of Physiology
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• 제5권2호
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• pp.29-40
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• 1971

Oxygen consumption, pulmonary ventilation, heart rate, and breathing frequency were measured on 8 men walking on a treadmill carrying load of 9 kg on hand, back, or head. Besides measurements were made on subjects carrying loads of 2.6 kg each on both feet. The speed of level walking was 4, 5, and 5.5km/hr and a fixed speed off km/hr with grades of 0, 3, 6, and 9%. Comparisons were made between free walking without load and walking with various types of loads. The following results were obtained. 1. In level or uphill walking the changes in oxygen consumption, pulmonary ventilation, breathing frequency and heart rate were smallest in back load walking, and largest in hand load walking. The method of back load was most efficient and hand load was the least efficient. The energy cost in head load walking was smaller than that of in hand load walking. It was assumed that foot load costed more energy than hand load. 2. In level walking the measured parameters increased abruptly at the speed of 5.5 km/hr. Oxygen consumption in a free walking at 4 km/hr was 11.4ml/kg b.wt., and 13.1 ml/kg b.wt. 5.5 km/hr, and in a hand load walking at 4 km/hr was 13.9, and 18.8 ml/kg b. wt. at 5.5 km/hr. 3. In uphill walking oxygen consumption and other parameters increased abruptly at the grade of 6%. Oxygen consumption at 4 km/hr and 0% grade was 11.4 ml/kg b. wt., 13.6 at 6% grade, and 16.21/kg b. wt. at 9% grade in a free walking. In back load walking oxygen consumption at 4km/hr and 0% grade was 12.3 ml/kg b.wt.,14.9 at 6% grade, and 18.7 ml/kg b.wt. In hand load walking the oxygen consumption was the greatest, namely, 13.9 at 0% grade, 17.9 at 6%, and 20.0 ml/kg b. wt. at 9% grade. 4. Both in level and uphill walking the changes in pulmonary ventilation and heart rate paralleled with oxygen consumption. 5. The changes in heart rate and breathing frequency in hand load were characteristic. Both in level and uphill walk breathing frequency increased to 30 per minute when a load was held on hand and showed a small increase as the exercise became severe. In the other method of load carrying the Peak value of breathing frequency was less than 30 Per minute. Heart rate showed 106 beats/minute even at a speed of 4 km/hr when a load was held on hand, whereas, heart rate was between, 53 and 100 beats/minute in the other types of load carriage. 6. Number of strides per minute in level walking increased as the speed increased. At the speed floater than 5 km/hr number of strides per minute of load carrying walk was greater than that of free walking. In uphill walk number of strides per minute decreased as the grade increased. Number of strides in hand load walk was greatest and back load walk showed the same number of strides as the free walk.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.171.2-171
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• 2001

This paper presents a force control of a arm of walking training robot. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and constraining patients to walk freely. The proposed walking training robot is designed to unload body weight effectively during walking. The walking training robot consists of unloading manipulator and mobile platform. The manipulator driven with a electro-mechanical linear mechanism unloads body weight in various level. The mobile platform is wheel type, which allows to patients unconstrained walking. Unloading system with electro-mechanical linear mechanism has been developed, which has advantages such as low noise level, light weight, low manufacturing cost and low power consumption. A system model for the manipulator ...

• 한국정밀공학회지
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• 제28권6호
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• pp.687-693
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• 2011

Spring-mass models have been widely accepted to explain the basic dynamics of human gait. Researchers found that the leg stiffness increased with gait speed to increase energy efficiency. However, the difference of leg stiffness change with gait speed between the young and the elderly has not been verified yet. In this study, we calculated the lower limb stiffness of the elderly using walking model with an axial spring. Vertical stiffness was defined as the ratio of the vertical force change to the vertical displacement change. Seven young and eight elderly subjects participated to the test. The subjects walked on a 12 meter long, 1 meter wide walkway at four different gait speeds, ranging from their self-selected speed to maximum speed randomly. Kinetic and kinematic data were collected using three force plates and motion capture cameras, respectively. The vertical stiffness of the two groups increased as a function of walking speed. Maximum walking speed of the elderly was slower than that of the young, yet the walking speed correlated well with the optimal stiffness that maximizes propulsion energy in both groups. The results may imply that human may use apparent limb stiffness to optimize energy based on spring-like leg mechanics.

• 한국정보통신학회논문지
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• 제9권6호
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• pp.1247-1252
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• 2005

다리를 가진 로봇은 지형에 대한 높은 적응능력을 가졌다할지라도 바퀴로 구동되는 로봇과 비교했을 때 일반적으로 그 속도가 상당히 느리다. 다리를 가진 로봇으로 빨리 움직이는 속도를 얻기 위해서는 두발로봇의 달리는 것과 4족 로봇의 속보나 뛰는 것과 같이 동적으로 안정한 걸음걸이가 좋은 해결법이다. 그러나 동적으로 안정한 걸음걸이의 에너지 효율은 일반적으로 느린 걸음걸이와 같은 안정한 걸음걸이보다 낮다. 본 논문에서는 4족으로 걷는 로봇의 에너지 효율에 관한 실험적 연구를 보여주고 있다. 걷는 보행 방법에 따른 2가지 패턴에 따른 에너지 효율관계를 TITAN-VIII이라 명명된 4발로 걷는 로봇을 기준으로 시뮬레이션을 통하여 비교분석 하였다.

• 대한영양사협회학술지
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• 제23권1호
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• pp.78-93
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• 2017

The purposes of this study were to assess energy expenditure of eight walking activities in normal weight and overweight or obese high school students and to evaluate the accuracy of two accelerometers worn on the ankle and waist. Thirty-five (male 17, female 18) healthy high school students participated in this study. They were classified into normal weight (n=21) and overweight or obese (n=14) groups. The subjects completed five treadmill walking activities (TW2.4, TW3.2, TW4.0, TW4.8, TW5.6), followed by three self-selected hallway walking activities (walk as if walking and talking with a friend: HWL, walk as if hurrying across the street at a cross-walk: HWB, walk as fast as you can but do not run: HWF). Energy expenditure and metabolic equivalents (METs) were measured using a portable indirect calorimeter, and predicted energy expenditures and METs were derived from two accelerometers placed on the ankle and waist. Measured energy expenditures per body weight (kg) of eight walking activities were significantly higher in the normal weight group than in the obese group and significantly higher in female than male. The ankle accelerometer overestimated energy expenditures and METs (bias 49.4~105.5%), whereas the waist accelerometer underestimated energy expenditures and METs (bias -30.3~-85.8). Except for HWF (fast) activity, METs of seven activities were moderate intensity based on Compendium METs intensity categories. HWF (fast) activity was vigorous intensity. METs from the ankle accelerometer were vigorous intensity except TW2.4 activity (moderate intensity). METs from the waist accelerometer were low intensity (TW2.4, TW3.2, TW4.0, TW4.8, HWL) and moderate intensity (TW5.6, HWB, HWF). Physical activity guidelines were developed based on measured physical activity level of high school students. Further studies should investigate the effects of body composition in larger subjects.

• 생명과학회지
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• 제13권1호
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• pp.21-28
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• 2003

본 연구의 목적은 10명의 비만여성을 체지방율에 의해 두 그룹(A:30~35%, B:35~40%)으로 분류하여 여러 동일한 속도(5.5, 6.0, 6.5, 7.0km.$hr^{-1}$)에서 걷기와 달리기 시 에너지 소비율과 심박수, 호흡교환율, 근동원량 등을 비교하는 것이었다. 본 실험결과 트레드밀 속도증가에 따른 산소 소비량은 두 그룹모두 걷기시 비선형적으로 증가하는 경향을 나타내었으나, 달리기 시에는 선형적 증가를 나타내어 두 그룹 모두에서 속도 6.5~7km/hr내에서 걷기의 에너지 소비율이 달리기시보다 높아지는 시점을 나타내었다. 두 그룹간 비교에서 유의한 차이는 나타나지 않았으나 A그룹 보다 B그룹이 다소 낮은 속도에서 걷기의 에너지효율성이 달리기시보다 떨어지는 경향을 보였다. 심박 수의 측정결과에서는 체 지방 율이 높은 그룹이 낮은 그룹보다 높은 심박 수 반응을 보여 체 지방 율이 높을수록 운동스트레스가 커지는 결과를 보였다. 호흡교환율 또한 체 지방 율이 낮은 그룹 보다 높은 그룹에서 운동시 탄수화물의 에너지참여비율이 높게 나타나 대사적 스트레스가 높은 것으로 나타났다. 이상의 결과로써 비만여성에서 걷기와 달리기 시 체 지방 율이 높을수록 대사적 스트레스를 증가시킬 수 있는 것으로 나타났고 에너지 소비 율도 영향을 받음으로써 걷기시 에너지 효율성에 비만인간 차이가 발생될 수 있지만, 이러한 차이는 크지 않은 것으로 생각된다.

• 한국운동역학회지
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• 제16권1호
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• pp.11-17
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• 2006

The purpose of this study was to evaluate the smoothness of movement during various walking speeds. Based on the maximum smoothness theory (or the minimum jerk theory), we hypothesized that the walking speed at the maximum smoothness (or minimum normalized jerk) is the same as that at the minimum energy consumption. Eleven university students participated in treadmill walking experiment with 11 different walking speeds (1.11, 1.19, 1.25, 1.33, 1.56, 1.78, 1.9, 2, 211, 233, and 2.47m/sec). Normalized jerk at 15 markers and the center of mass was calculated. Results showed that there existed a quadratic relationship between the normalized jerk of the vertical direction at the center of mass and the walking speed As the walking speed increased, the normalized jerk of all directions at the heel decreased Our hypothesis that the previously published energetically optimal walking speed ($1.25\;{\sim}\;1.4m/s$) is the same as the minimum jerk speed (1.78m/s) did not agree with this result. The minimum normalized jerk at the center of mass occurred at the walking speed of 1.78m/s which was the preferred walking speed by subjects' questionaries. Further studies concerning the energetically optimal walking speed, preferred walking speed, and walk-run transition speed or run-walk transition speed are necessary based on actual energy consumption experiment and various multi-dimensional analysis.

• 로봇학회논문지
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• 제1권1호
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• pp.1-8
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• 2006

In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.

• 대한의용생체공학회:의공학회지
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• 제32권2호
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• pp.79-84
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• 2011

The purpose of this study was to investigate the relevance of the prediction equations derived from the relationship between metabolic energy expenditure and kinetic energy, for different speeds of walking and running over the treadmill. Seven male subjects participated in this study. A tri-axial accelerometer was attached on between the left and right posterior superior iliac spines. Kinetic energy was calculated by the integration of acceleration data and compared with the metabolic energy measured by a gas analyzer. Correlation coefficients were determined to find a relationship between the kinetic energy and the metabolic energy expenditure. Also, the difference between measured and predicted values was used to find the relevance for individual and group equations. Results showed a relatively good correlation between the measured metabolic energy and the calculated kinetic energy. In addition, a dramatic increase in kinetic energy was observed at the transition speed of walking and running (6 km/h). There was no difference in how to predict the kinetic energy expenditure for individual and group even though people have different physical characteristics. This study would be useful to predict metabolic energy expenditures by the regression analysis with acceleration data.