• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.537-542
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• 2022

There is a limit to the current indoor air quality (IAQ) monitoring method using fixed sensors and devices. A mobile robot for IAQ monitoring was developed by mounting IAQ monitoring sensors on a small multi-legged robot to minimize vibration and protect the sensors from vibration while robot moves. The developed mobile robot used a simple gait mechanism to enable the robot to move forward, backward, and turns only with the combination of forward and reverse rotation of the two DC motors. Due to the simple gait mechanism, not only IAQ data measurements but also gait motion control were processed using a single Arduino board. Because the mobile robot has small number of electronic components and low power consumption, a relatively low-capacity battery was mounted on the robot to reduce the weight of the battery. The weight of mobile robot is 1.4kg including links, various IAQ sensors, motors, and battery. The gait and turning speed of the mobile robot was measured at 3.75 cm/sec and 14.13 rad/sec. The maximum height where the robot leg could reach was 33 mm, but the mobile robot was able to overcome the bumps up to 24 mm.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.536-539
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• 1997

This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.

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

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.147-154
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• 2007

This study's purpose is to investigate the effects on leg muscle activity caused by perturbation, using a trapdoor system during the support phase of gait for healthy adults (n = 6, height $177.5{\pm}5.5cm$, weight $81.0{\pm}9.5kg$, age $30.0{\pm}3.3yrs$). The trapdoor had the functional ability of causing inversion or eversion. The release time for the trapdoor was specified for two times, 0.3 and 0.5 seconds after heel contact. While altering these variables, EMG was recorded for the leg muscles (rectus femoris, biceps femoris, vastus lateralis, tibialis anterior, gastrocnemius, soleus). The following conclusions were derived. The steptime was longer for the 0.5s eversion than 0.3s inversion condition. So in order to regain stability after the perturbation the unsupporting leg reached forward rapidly. This quick reflex can be observed through the center of pressure (COP) and its rapid change in direction. The gastrocnemius was activated throughout the total experiment. There was a low amount of activity recorded in the rectus femoris, vastus lateralis and tibialis anterior except for the condition of inversion 0.3s. For most of the conditions, the highest average EMG peak values were recorded during the condition of inversion 0.3s. The iEMG patterns were similar for the conditions of inversion 0.3s and eversion 0.3s. To cope with the rapid change in these conditions, the biceps femoris was activated. During the experiment except for the condition of normal gait, the activity of the soleus and gastrocnemius was relatively high. Therefore, to prevent injury from perturbation of the lower leg strengthening of the soleus and gastrocnemius is required. Likewise to prevent injury to the thigh strengthening for the biceps femoris.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.1
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• pp.127-137
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• 2022

PURPOSE: This study sought to evaluate muscle activity and foot pressure during gait, and balance in female college students with genu valgum. METHOD: Participants were assigned based on their Q-angle to genu valgum group greater than 20° (GVG, n = 12), unilateral genu valgum group greater than 20° (UVG, n = 11), and control group (CON, n = 13). All subjects were evaluated for balance (Trace length, C90 area, C90 angle, and the Romberg test), muscle activity (gluteus medius; GM, tensor fasciae latae; TFL, vastus medialis; VM, vastus lateralis; VL, biceps femoris; BF, gastrocnemius; GCM and tibialis anterior; TA) and foot pressure (F/F ratio, R/F ratio, Hallux, 2~5 toe, 1st MT, 2~4 MT, 5th MT, Midfoot, M/heel, and L/heel) during gait. RESULTS: Romberg test showed significantly increased loss of balance in the UVG group compared with the CON. In the forward position, the imbalance was significantly increased in the UVG and GVG groups compared to the CON. Muscle activity of VL, GCM, and TA significantly increased in the GVG group compared with the CON. Static foot pressure, 1st MT significantly increased in the GVG compared to the CON group. The 5th MT significantly decreased in the CON compared with the GVG group. The R/F ratio significantly decreased in the GVG compared to the CON group. In dynamic foot pressure, the 2~5 toe significantly increased in the GVG compared with the UVG group. The left 5th MT significantly decreased in the UVG compared with the CON and GVG groups. CONCLUSION: These results indicate that genu valgum has a negative effect on balance, muscle activity, and foot pressure during gait in female college students.

• Journal of Biosystems Engineering
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• v.32 no.5
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• Journal of the Korean Society of Physical Medicine
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• v.12 no.3
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• pp.49-58
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• 2017

PURPOSE: To summarize the evaluation tools of balance [Berg Balance Scale (BBS), timed up and Go (TUG), forward reaching test (FRT)], gait [6 m walking Test (6MWT)], and strength [Chair Stand Test (CST)] for patients with dementia. METHODS: The following databases were searched: Pub MED, Cochrane, Sciences Direct, and Web of Sciences. The inclusion criteria were as follows: 1) repeated measurement design, 2) subjects with dementia, 3) use of testing tools such as the BBS, TUG, FRT, 6MWT, and CST, 4) report the reliability. One reviewer performed the quality assessment of diagnostic accuracy study and two evaluators performed data extraction independently. RESULTS: Six articles and one letter were included. The interrater reliability of 6MWT, TUG, and CST, were acceptable (ICC>.90). However, FRT had unacceptable reliability. In test-retest reliability, only BBS has acceptable reliability (ICC>.90). Others had various reliabilities. The risk of interrater reliability bias was low in all studies. However, the risk of bias of intrarater reliability was low in five studies and moderate in two studies. CONCLUSION: The interrater reliability of the 6MWT, TUG, and CST were acceptable. However, in test-retest reliability, only BBS has acceptable reliability. Therefore, we suggest the use of BBS to test the balance of dementia patients. In addition, the study of tool reliability according to the subtype of dementia is needed in the future.

• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.133-139
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• 2014

This paper proposes a wearable and motorized crutch control system for the patients using the conventional crutches. The conventional crutches have a few disadvantages such as the inconvenience caused by the direct contact between the ground and the armpit of the patients, and unstable gait patterns. In order to resolve these problems, the motorized crutch is designed as a wearable type on an injured lower limb. In other words, the crutch makes the lower limb to be moved forward while supporting the body weight, protecting the lower limb with frames, and rotating a roller equipped on the bottom of the frames. Also the crutch is controlled using the electromyography and two force sensing resistor (FSR) sensors. The electromyography is used to extract the walking intention from the patient and the FSR sensors to classify the stance and swing phases while walking. As a result, the developed crutch makes the patients walk enabling both hands to be free, as if normal people do.

• Journal of the Korean Society of Physical Medicine
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• v.13 no.3
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• pp.27-37
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• 2018

PURPOSE: The purpose of this study was to investigate and evaluate muscle activity and foot pressure during gait, and isokinetic strength and balance in persons with functional ankle instability (FAI). METHODS: Nine healthy subjects (CON, n=9) without FAI and 11 patients (FAI, n=11) with FAI participated in the study after having been screened with an ankle instability instrument and a balance error scoring system. In addition, FAI was classified as non-involved (FAI-N) or involved (FAI-I), and CON was classified as dominant or non-dominant. All subjects were evaluated for isokinetic strength (plantar flexion, dorsiflexion, inversion and eversion of $30^{\circ}/sec$ and $60^{\circ}/sec$), balance (static and dynamic), muscle activity (tibialis anterior, peroneus longus and gastrocnemius) and foot pressure (static and dynamic) during gait. RESULTS: Results showed that plantar flexion (p<.05), dorsiflexion (p<.05), inversion (p<.01) and eversion (p<.00) of $60^{\circ}/sec$ were significantly decreased in FAI-I compared to those in FAI-N and CON. C 90 of static balance with eyes open (p<.01) and closed (p<.00) were significantly increased in FAI compared to those in CON. Forward position of dynamic balance (p<.01) was significantly decreased in FAI compared to that in CON. Gastrocnemius and peroneus longus of dynamic muscle activity (p<.01), left and right weight distribution of static foot pressure (p<.00) and pressure distribution of dynamic foot pressure (p<.00) were significantly decreased in FAI-I compared to those in FAI-N. CONCLUSION: We demonstrated that ankle strength, balance, muscle activity and foot pressure were significantly correlated with FAI.