• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.5
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• pp.2199-2205
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• 2012

The purpose of this study was to find out the effects of depending on variations of speed in backward walking on lower extremities muscle. For this study, 30 members were randomly divided into three groups; groupI(n=10, forward walking: 5km/h), groupII(n=10, backward walking: 5km/h), groupIII(n=10, backward walking: 2.5km/h). This exercise was performed to 30 minutes 4 times a week for 4 weeks. This study was measured before the exercise and after 4 weeks. The result of this study are as follows. The muscle activity of rectus femoRIS was higher in backward walking group(p<.01) than in forward walking group and it was the highest at groupII(p<.001). The quadriceps muscle strength of thigh was higher in backward walking group(p<.01) than in forward walking group and it was the highest at groupII(p<.001). From these results, backward walking training was effective on muscle activity, strength of thigh muscle. Although fast speed backward walking was most effective, low speed backward walking that compare with forward walking was effective.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.371-376
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• 2005

Relative contributions of lower extremity joints on the support moment were investigated in this study. Three-dimensional gait analyses were performed in normal walking and in unexpected step-down walking. For both gait studies, inverse dynamics were performed to obtain each joint moment of the lower extremity, which was applied to the forward dynamics simulation to determine the contributions on the support moment at different phases of walking. The forward dynamic simulation results showed that, in normal walking, the ankle plantar flexors contributed significantly during single-limb-support. However, the ankle plantar flexors, knee extensors and hip extensors worked together during double-limb-support. In unexpected step-down walking, the important contributors on the support of the body during single-limb-support were not only ankle plantar flexors but also knee extensors. This study, analyzing the relative contributions of the lower limb joint moments for the body support, would be helpful to understand different unexpected walking conditions and compensatory mechanisms for various pathological gaits.

• 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.

• Physical Therapy Korea
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• v.23 no.3
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• pp.1-10
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• 2016

Background: Gait problems appear in most stroke patients. Commonly, stroke patients show the typical abnormal gait patterns, such as circumduction, genu recurvatum, and spastic paretic stiff-legged gait. An inclined treadmill gait exercise is good for gait problems of stroke patients. In addition, the backward walking training has been recommended in order to improve the component of the movement for the forward walking. Objects: The purpose of this study to investigated the effects of backward walking with inclined treadmill training on the gait in chronic stroke patients. Methods: A total of 30 volunteers were randomly allocated to two groups that walked on an inclined treadmill: the experimental group ($n_1=15$), which walked backward, and the control group ($n_2=15$), which walked forward. To measure the improvement of the patients' gait, a Figure of Eight Walking Test (F8W), Four Square Step Test (FSST), and Functional Gait Assessment (FGA) were performed. We also measured spatio-temporal gait variables, including gait speed, cadence, stride length, and single limb support using a three-axial wireless accelerometer. The measurements were taken before and after the experiment. The Wilcoxon signed-rank test was used to compare both groups before and after the interventions. The Mann-Whitney U test was used for the comparisons after the interventions. The statistical significance was set at ${\alpha}=.05$. Results: Before and after experiment, all dependent variables were significantly different between the two groups (p<.05). As compared to the control group, the experimental group showed more significant improvements in F8W, FSST, speed, cadence, stride length, and single limb support (p<.05); however, FGA in this group was not significantly different from the control (p>.05). Conclusion: Our results suggest that backward walking on an inclined treadmill is more effective for improving the gait of stroke patients than forward walking.

• Journal of Animal Science and Technology
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• v.63 no.2
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• pp.440-452
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• 2021

The purpose of this study was to determine if an 8-week therapeutic riding (TR) program was effective in improving the walking ability of students with intellectual disabilities. Thirteen students diagnosed with intellectual disabilities participated in the TR program. TR sessions were conducted twice a week (30 min per session), with a total of 16 rides taking place over an 8-week period. A gait measurement analyzer was used to measure progress based on a turn test (6-m walking and turning test), walk test (10-m walking), and timed up and go (TUG) test. Measurements were made three times: before horse-riding (P0), after 4 weeks (8 rides) of horse-riding (P1), and after 8 weeks (16 rides) of horse-riding (P2). Data analysis was conducted using SPSS software (ver. 22.0). Descriptive statistics were generated on the general characteristics of the subjects, and the Kolmogorov-Smirnov test was used to verify the normality of the data. Because of the lack of normality, the data were analyzed using a nonparametric method and the significance level was set to 0.05. Measurements of the duration of the forward gait cycle (s) in the turn test and the forward gait speed (m/s) in the walk test indicated improved walking ability after the TR program (p < 0.001); the stride length (% height) also increased significantly (p < 0.05). The walk test revealed a significant effect of the program on the duration of the forward gait cycle (p < 0.05), while there were significant improvements on the left and right of the elaborated strides (p < 0.001). No significant improvement in TUG test performance was observed after the TR program. In this study, an 8-week TR program had positive results on gait. Therefore, further research is merited, where TR programs are likely to improve the walking ability of individuals with intellectual disabilities.

• 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.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• Physical Therapy Rehabilitation Science
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• v.3 no.2
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• pp.77-85
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• 2014

Objective: In the present study, the effects of progressive body weight support treadmill forward & backward walking training (FBWT), progressive body weight support treadmill forward walking training (FWT), and progressive body weight support treadmill backward walking training (BWT), and on stroke patients' ambulatory abilities were examined. Design: Randomized controlled trial. Methods: A total of 36 chronic stroke patients were divided into three groups with 12 subjects in each group. Each of the groups performed one of the progressive body weight supported treadmill training methods for 30 minute, six times per week for three weeks, and then received general physical therapy without any other intervention until the follow-up tests. For the assessment of the step length, total double support, cadence, gait were measured using optogait and the 10-m walk test (10MWT), 6 minutes walk test (6MWT). Results: In the within group comparisons, all the three groups showed significant differences between before and after the intervention (p<0.05). In the comparison of the three groups, there were significant differences among the three groups in stride length, double limb support stance, cadence, 10MWT, and 6MWT in the third week, and only in stride length, 10MWT, and 6MWT test in the sixth week (p<0.05). Conclusions: This study verified that progressive body weight-supported treadmill gait training positively affected the gait ability of stroke patients in an actual gait environment. It also showed that FBWT group was more effective than FWT group and BWT group training.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.