• 제목/요약/키워드: GAIT DEVELOPMENT

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FES보행중의 피드백제어를 위한 관절 각도계측 시스템 개발 (Development of Joint Angle Measurement System for the Feedback Control in FES Locomotion)

  • 문기욱;김철승;김지원;이재호;권유리;강동원;강곤;김요한;엄광문
    • 전기학회논문지
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    • 제58권1호
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    • pp.203-209
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    • 2009
  • The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM) $-20{\sim}15$ degrees (dorsiflexion as positive) which covers the ankle ROM of both stroke patients and normal subjects during locomotion. The error was the smallest with the sensor at the position 1 which was the nearest position to the ankle joint. In case of human experiment, the RMS (root mean square) errors were $0.51{\pm}1.78(0.31{\sim}0.64)$ degrees and the maximum errors were $1.19{\pm}0.46(0.68{\sim}1.58)$ degrees. The proposed system is less constraint and cosmetically better than the existing angle measurement system because the wires are not needed.

소셜로봇을 위한 사회적 거리를 고려한 새로운 보행자 회피 알고리즘 개발 (Development of a New Pedestrian Avoidance Algorithm considering a Social Distance for Social Robots)

  • 유주영;김대원
    • 방송공학회논문지
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    • 제25권5호
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    • pp.734-741
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    • 2020
  • 본 논문은 인간과 공존하고 커뮤니케이션하며, 인간에게 심리적 안전거리(사회적 거리) 침해에 따른 스트레스를 유발하지 않는 소셜로봇을 위한 새로운 보행자 회피 알고리즘을 제안한다. 보행자 모델을 새롭게 정의하기 위해 보행자의 걸음걸이 특성(직진성, 속도)에 따라 보행자를 클러스터링하며 보행자 클러스터별 사회적 거리를 정의한다. 정의된 사회적 거리를 포함하도록 보행자(장애물) 모델링을 하고, 새롭게 정의된 보행자 모델에 상용화된 장애물 회피, 경로계획 알고리즘을 적용해 통합된 주행 알고리즘을 완성한다. 새로운 알고리즘의 효과를 검증하기 위해, 상용화된 대표적 두가지 장애물회피 경로계획 알고리즘인 DWA 알고리즘과 TEB 알고리즘을 활용한다. 본 논문의 핵심 알고리즘인 새로운 보행자 모델을 적용한 경우와 적용하지 않은 경우로 구분하여 그 효용성을 평가한다. 그 결과, 새롭게 제안된 알고리즘이 이동시간의 손실 없이 보행자의 스트레스 지수를 현격하게 줄일 수 있음을 보인다.

전신 진동을 결합한 교각운동이 뇌졸중 환자의 근활성도와 균형에 미치는 영향 (Influence of Bridge Exercise Combined with Whole Body Vibration on Muscle Activity and Balance of Stroke Patient)

  • 양대중;박승규;강정일;김제호;정대근;오수환;엄요한
    • 대한통합의학회지
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    • 제7권4호
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    • pp.291-300
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    • 2019
  • Purpose : This study focuses on the influence of bridge exercise combined with whole body vibration on muscle activity and balance. Methods : 30 stroke patients were recruited for subjects. The subjects were divided to bridge exercise combined stable surface (Group I), bridge exercise combined unstable surface (Group II), and bridge exercise combined bridge exercise (Group III), of which 10 subjects were randomly allocated. The subjects were given 30 minutes of neurologic physical therapy which included gait training and muscular strength training, and additionally given 30 minutes of bridge exercise combined stable surface, bridge exercise combined unstable surface, and bridge exercise combined whole body vibration for each group, five times a week, for 8 weeks. Their muscle activity and balance were analyzed before the intervention. After 8 weeks of the intervention, the mentioned parameters were measured once more for between-group analysis. Results : Comparative analysis of the muscle activity and balance between the groups showed statistically significant difference, and post-hoc analysis showed the Group III had greater changes in muscle activity and balance than Group Iand Group II. Conclusion : Such results revealed that bridge exercise combined with whole body vibration is effective in muscle activity and balance. Based on the current study, more effective program is to be proposed for elite athletes as well as stroke patients. Based on the current study, studies that incorporates various frequencies of vibration is required for development of effective whole body vibration exercise program.

지반조건과 신발의 종류에 따른 족저압 분포 (Plantar foot pressure distribution depending on ground conditions and shoe type)

  • 김상환;이혜윤;김연덕
    • 한국산학기술학회논문지
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    • 제16권4호
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    • pp.2899-2905
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    • 2015
  • 본 논문은 지반 조건에 따른 족저압의 압력분포에 대한 연구이다. 실내화, 실외화, 걷기화, 운동화의 네 가지 카테고리의 신발이 본 연구에 사용되었으며, 260mm(유럽 코드 EU40)를 착용하는 45명의 20대 남성을 대상으로 콘크리트, 모래 지반에서의 실험을 실시하였다. 보행 시 응력과 압력의 측정은 Techstorm사의 Insole System을 사용하여 측정하였으며 발의 발가락, 전족, 중족, 후족 네 가지 영역에서 족저압을 측정하였다. 연구 결과 신발과 지반 조건에 따라 다른 응력 및 압력의 분포를 나타냈으며 본 연구 결과는 모래 지반에서 착용 가능한 신발의 개발에 유용하게 사용될 것으로 기대된다.

일개 종합병원 입원환자의 낙상관련 특성 및 낙상발생 예측요인 (Characteristics and Risk Factors for Falls in Tertiary Hospital Inpatients)

  • 최은주;이영신;양은정;김지희;김연희;박현애
    • 대한간호학회지
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    • 제47권3호
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    • pp.420-430
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    • 2017
  • Purpose: The aim of this study was to explore characteristics of and risk factors for accidental inpatient falls. Methods: Participants were classified as fallers or non-fallers based on the fall history of inpatients in a tertiary hospital in Seoul between June 2014 and May 2015. Data on falls were obtained from the fall report forms and data on risk factors were obtained from the electronic nursing records. Characteristics of fallers and non-fallers were analyzed using descriptive statistics. Risk factors for falls were identified using univariate analyses and logistic regression analysis. Results: Average length of stay prior to the fall was 21.52 days and average age of fallers was 61.37 years. Most falls occurred during the night shifts and in the bedroom and were due to sudden leg weakness during ambulation. It was found that gender, BMI, physical problems such elimination, gait, vision and hearing and medications such as sleeping pills, antiarrhythmics, vasodilators, and muscle relaxant were statistically significant factors affecting falls. Conclusion: The findings show that there are significant risk factors such as BMI and history of surgery which are not part of fall assessment tools. There are also items on fall assessment tools which are not found to be significant such as mental status, emotional unstability, dizziness, and impairment of urination. Therefore, these various risk factors should be examined in the fall risk assessments and these risk factors should be considered in the development of fall assessment tools.

일개 종합병원 입원환자의 낙상 실태 및 관련 요인 (Falls in the General Hospital Inpatients: Incidence, Associated Factors)

  • 양화미;천병철
    • 한국의료질향상학회지
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    • 제15권2호
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    • pp.107-120
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    • 2009
  • Background : To estimate fall incidence rate and associated factors in inpatients from a general hospital. Method : The data were collected from 104 fall incident reports developed by the patient safety committee in a general hospital in Seoul from 01 January 2007 to 31 December 2008. Information included general characteristics of patients, factors related to fall, types, places, circumstances and outcomes of fall. Result : The incidence rate of fall, which was 4.4 per 1,000 total discharged patients and 0.5 per 1,000 patient-days, was much lower than that of several hospitals in the United States. The difference may reflect the different incidence reporting system of each hospital. Fall-prone patients were, in general, $$\geq_-$$65 years of age, had an alert mental status, were ambulatory with some assistance, and were dependent on and ambulatory device. High incidence of falls was associated with patients with circulatory disease. The majority of fall events usually occurred in bed or at the bedside in the patient's room, and occurred more often during the night than during the day or evening. Risk factors of fall were use of drugs (antihypertensive or neuropsychiatric drugs) and environmental factors (e.g., overly high bed height, surrounding objects, inadequate fitness shoes and slippery floor). Physical injury occurred in 43.3% of fall events, which typically required diagnosis of injury and treatment such as suturing. Risk factors for repeated falls were use of a neuropsychiatric drug (odds ratio=13.9) and gait disturbance (odds ratio=91.2). Risk factors for fall-related injury were alert mental status (odds ratio=3.3 times more likely to fall than those who were drowsy or in a stupor) and general weakness(odds ratio=3.3 times more likely to fall than those who were not generally weak). Conclusion : Medical and nursing staff should be aware of the fall risk factors of hospitalized patients and should intensively pursue preventative strategies. Development of fall prevention education based on these results is recommended.

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고령자용 개인교통수단 개발 사양 정의를 위한 보행환경 조사 (Walking Environment Survey for Development of Specification on Personal Mobility (PM) Device for Elderly)

  • 김영민;김지수;문병섭
    • 한국ITS학회 논문지
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    • 제16권6호
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    • pp.156-168
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    • 2017
  • 개인교통수단(PM)은 개인의 이동편의를 향상시켜준다는 측면에서 보행능력이 떨어지는 고령자가 주요 활용 대상이 될 수 있다. 본 연구에서는 고령자가 보도 등 보행환경에서 안전하게 이용할 수 있는 개인교통수단을 설계하고자 한다. 보행환경에는 다양한 통행 장애요인이 존재하며, 개발하고자 하는 수단은 장애요인을 극복하기 위한 기기 성능이 확보되어야 한다. 본 연구에서는 고령자용 개인교통수단의 성능수준 결정을 위하여 보행환경 상 통행 장애요인 현황 및 수준을 조사한다. 관련 지침을 검토하여 조사 대상 항목 및 조사 방법론을 정의하고, 고령자 일상생활 기반 통행 시나리오를 통해 선정된 특정 도로구간에 대하여 조사를 수행한다. 조사 결과를 바탕으로 수단의 기기 성능을 지침 상 제시된 기준에 근거하여 확보하였을 때 발생 가능한 문제점을 확인하며, 장애인용 전동휠체어의 운전 성능 기준을 근거하여 개발 수단의 기기 성능에 대한 요구사항을 정의한다.

뇌병변 환아에서 외상성 손상을 받은 미성숙 영구치의 치험례 (TREATMENT OF AN IMMATURE, TRAUMATIZED PERMANENT TOOTH OF A PATIENT WITH CEREBRAL PALSY : A CASE REPORT)

  • 허선재;신터전;현홍근;김정욱;장기택;이상훈;김종철;김영재
    • 대한장애인치과학회지
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    • 제12권2호
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    • pp.72-76
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    • 2016
  • 저자는 뇌병변 장애와 보행장애로 반복적인 외상성 치아손상을 받은 환아의 치료를 시행하였다. 최근 실활된 미성숙 영구치의 계속된 치근 형성을 위해 재생적 근관치료 술식이 많이 시도되어 성공적인 결과를 보이고 있다. 하지만 장애로 인해 반복적인 외상의 위험을 가진 환아에서 치수조직의 재생 보다는 치근단형성술을 통한 치근단의 폐쇄와 근관 충전이 비용과 장기적인 예후의 측면에서 유리한 치료방법이 될 수 있음을 확인하였다.

Toxicity and Safety Profiles of Methanolic Extract of Pistacia integerrima J. L. Stewart ex Brandis (PI) for Wistar Rats

  • Sharwan, Gotmi;Jain, Parag;Pandey, Ravindra;Shukla, Shiv Shankar
    • 대한약침학회지
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    • 제19권3호
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    • pp.253-258
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    • 2016
  • Objectives: The goals of this research were to evaluate acute (single-dose) and sub-acute (repeated-dose) toxicity profiles of methanolic extract of Pistacia integerrima J. L. Stewart ex Brandis (PI) for Wistar rats and to assess the safety profile of PI by observing physiological changes, mortality, changes in body weight, the histopathology of body organs, the hematology and the biochemistry of the animals. Methods: The toxicity profile of PI was evaluated using Wistar rats of both sexes. Animals were divided into four groups: Group 1; control group (normal saline), Group 2; PI-1 (250 mg/kg), Group 3; PI-2 (500 mg/kg), Group 4; PL-3 (1,000 mg/kg). An acute-toxicity study in which animals received a single dose of PI extract (2,000 mg/kg) and were then observed for 14 days for changes in skin, fur, eye color, mucous membrane secretions and excretions, gait, posture, and tonic or clonic movements was performed according to guideline 425 of the Organization of Economic and Corporation Development (OECD). In the repeated-dose toxicity study (OECD - 407) animals received a daily dose of PI extract for 28 days (4 weeks). The parameters observed in this study include body weight, hematology and biochemistry of the animals. Results: In the acute toxicity study, no mortalities or changes in behavior were noted in the animals. The repeated-dose toxicity study was also devoid of any toxicity in the animals during the 28 days of testing with PI extract. The extract did not alter- the body weight, hematology or biochemistry of the animals. The methanolic extract of PI was to be found safe to the no-observed-adverse-effect-level (NOAEL) for the single-dose and repeated-dose toxicity tests in rats. Conclusion: The methanolic extract of PI was devoid of toxicity; hence, it can be used for various ayurvedic preparations and treatments of diseases.

질환 중심 기공프로그램 개발 사전연구 : 파킨슨병 관리 프로그램을 중심으로 (Development of disease-specific qigong program for Parkinson's disease)

  • 이화진;이혜정;인창식;채윤병;백유상;신용철;이상재;박히준
    • Korean Journal of Acupuncture
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    • 제26권4호
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    • pp.77-88
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    • 2009
  • Background : Qigong is an exercise therapy based on the principles of Traditional East Asian Medicine. The exercises combine the practice of motion and breathing, both guided by mental imagery. Beneficial effects of qigong have been reported on a variety of complaints in chronically ill patients and on gait imbalance in the elderly. Parkinson's disease is a progressive neurodegenerative disorder that affects neurophysiological function, movement abilities, and quality of life. Objectives : We developed a qigong program based on the Traditional East Asian medical theory regarding the improvement of clinical symptoms of Parkinson's disease. Methods and Results : Our qigong program consists of three parts. The first one includes movements which stimulate the meridians that run from the toes to the top of the head. The second one is composed of breathing and qigong movements that create harmony and balance with the circulation of Qi and blood on the Meridians. The third is a stage of finger pressure therapy and massage from Daoyin medical qigong to maintain meridian stability. Conclusions : These qigong program would help relieve the clinical symptoms of Parkinson's disease patients.

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