• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.113-118
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• 1988

The problem of controlling static gaits of a Quadruped Walking Robot is investigated. A theoretical approach to the gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects of the stride length to the static stability are analyzed, and the relations between the static stability and the initial body configurations are examined. Extensive computer simulations are performed to verify the analysis results.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.170-178
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• 2005

The purpose of this study is to develop a gait-event detection system, which is necessary for the cycle-to-cycle FES control of locomotion. Proposed gait event detection system consists of a signal measurement part and gait event detection part. The signal measurement was composed of the sensors and the LabVIEW program for the data acquisition and synchronization of the sensor signals. We also used a video camera and a motion capture system to get the reference gait events. Machine learning technique with ANN (artificial neural network) was adopted for automatic detection of gait events. 2 cycles of reference gait events were used as the teacher signals for ANN training and the remnants ($2\sim5$ cycles) were used fur the evaluation of the performance in gait-event detection. 14 combinations of sensor signals were used in the training and evaluation of ANN to examine the relationship between the number of sensors and the gait-event detection performance. The best combinations with minimum errors of event-detection time were 1) goniometer, foot-switch and 2) goniometer, foot-switch, accelerometer x(anterior-posterior) component. It is expected that the result of this study will be useful in the design of cycle-to-cycle FES controller.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.3
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• pp.285-291
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• 2014

PURPOSE: The purpose of this study was to propose clinical criteria to differentiate patients who are able to perform the step-through-step gait pattern in chronic stroke patients. METHODS: Sixty patients with chronic stroke patients participated this study. To differentiate patients who could perform the step-through-step gait pattern, age, gender, and causes of stroke were noted, a Chedoke-McMaster (CM) damage list, Fugl-Meyer (FM) assessment scales and the Berg Balance Scale (BBS) were determined. A 10 meter gait test and Timed Up and Go (TUG) test were conducted to determine the differences in gait speed and dynamic balance between patients walking with or without canes in the step-through-step gait pattern group. RESULTS: There was no significant statistical difference in age, gender, and stroke type between all subjects. There were significant differences in the CM scale for postural and lower extremities, and FM scale for lower extremities and BBS. The dynamic balance ability and gait speed showed significant differences between the subjects in the step-through-step gait pattern with or without a cane during gait. CONCLUSION: CM and FM scales for the lower extremities and postural control, as well as BBS scales, can be used as criteria to differentiate patients who are able to perform the step-through-step gait pattern. These results can also be used to provide beneficial information to patients that are walking with canes.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.10 no.1
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• pp.83-101
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• 2004

The propose of the study was to evaluate the efficacy of the partial body weight support during treadmill training on the ambulation in elderly with chronic stroke. Fourteen hemiplegic volunteers participated and were divided into an experimental and control groups. In the experimental group, the body weight support during treadmill training was performed 3 times per week for 6 weeks. In the control group, usual treadmill training was applied. Before and after experiments, temporal-spatial gait parameters were measured. The date of 14 patients who carried out the whole experimental course were statistically analyzed. The results of the study were : 1. In the comparison of gait velocity before and after experiment, the gait velocity was significantly increased in the experimental group and the control group(p<.05). In the comparison of difference of the gait velocity between groups, there was not, significant difference between the experimental group and the control group(p>.05). 2. In comparison of gait cadence before and after experiment, the gait cadence was significantly increased in both groups(p<.05). In the comparison of difference of the gait cadence between groups, there was not significant difference between the experimental group and the control group(p>.05). 3. In the comparison of step length before and after experiment, the step length was significantly increased in the experimental group and the control group(p<.05). In the comparison of difference of the step length between groups, there was not significant difference between the experimental group and the control group(p>.05). 4. In the comparison of single support time asymmetry before and after experiment, the single support time asymmetry was no significant difference between groups(p>.05). In the comparison of difference of the single support time asymmetry between groups, there was not significant difference between the experimental group and the control group(p>.05). 5. In the comparison of step length asymmetry before and. after experiment, the step length asymmetry was not significant difference between the experimental group and the control group(p>.05). In the comparison of difference of the single step length asymmetry between groups, there was not significant difference between the experimental group and the control group(p>.05).

• Journal of the Korean Society of Physical Medicine
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• v.5 no.4
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• pp.577-585
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• 2010

Purpose : This study was to evaluate gait velocity and stance time on 5 conditions in elderly women and elderly women with LBP. The subjects were 70's generation. Methods : The subjects are 20 divided into 2 groups. They measured gait velocity, stance-time. The 5 conditions were normal gait, 10cm obstacle gait, 25cm obstacle gait, dual 10cm obstacle gait, dual 25cm obstacle gait. The experimental period was between 2008/12 and 2009/2. Statistical analysis was used Repeated measurement for difference between conditions, independent t-test for difference in two groups. Subjects were countdown from 50 during dual task gait. Results : The results were as follow: there were significantly difference 10cm obstacle velocity, dual 10cm obstacle velocity in two group. The others were not significantly differences. Velocity and stance-time were significantly difference in control group. In dual 25cm obstacle gait, velocity was difference of normal gait. Stance-time was difference in 25cm obstacle gait, and dual 25cm obstacle gait. In Experimental group, velocity and stance-time were not significantly difference. But measured value of velocity was gradually decreased and stance time was increased. Conclusion : These results indicate that elderly people with LBP women are reduced gait ability in dual task, and obstacle condition. So they need to prevent falling in dual task, and obstacle gait and to train obstacle/dual tak gait.

• PNF and Movement
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• v.15 no.3
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• pp.247-252
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• 2017

Purpose: This study sought to examine the effect of coordinative locomotor training (CLT) program on the balance and gait of stroke patients and to develop effective programs and training methods to improve the functions of such patients. Methods: Subjects included 29 patients with hemiplegia caused by stroke. The subjects were randomly divided into an experimental group (n=14) that participated in CLT program and a control group (n=15) that participated in general exercise therapy. The experimental group underwent CLT program, while the control group underwent general exercise therapy, for 30 minutes, 3 days per week for a 6-week period. timed up and go test (TUG), four square step test (FSST), figure-of-8-walk test (F8WT), and 10m walking test (10MWT) were conducted to evaluate changes in balance and gait. Results: After the intervention, significant differences (p<0.05) were seen in the TUG, FSST, F8WT, and 10MWT in both groups. The experimental group showed more significant improvement than the control group(p<0.05). Conclusion: The results from this study indicate that a CLT program is extremely effective for improving the balance and gait in stroke patients.

• Journal of Magnetics
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• v.20 no.2
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• pp.129-132
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• 2015

The aim of the present study was to examine whether repetitive transcranial magnetic stimulation (rTMS) can improve gait ability of acute stage stroke patients. This study was conducted with 39 subjects who were diagnosed as having a hemiparesis due to stroke. The experimental group included 20 subjects who underwent repetitive transcranial magnetic stimulation and the control group included 19 subjects who underwent sham therapy. The stroke patients in the experimental group underwent conventional rehabilitation therapy and rTMS was applied daily to the hotspot of the lesional hemisphere. The stroke patients in the control group underwent sham rTMS and conventional rehabilitation therapy. Participants in both groups received therapy five days per week for four weeks. Temporospatial gait characteristics, such as stance phase, swing phase, step length in affected side, velocity, and cadence, were assessed before and after the four week therapy period. A significant difference was observed in post-treatment gains for the step length in the affected side, velocity, and cadence between the experimental group and control group ( p < 0.05). However, no significant differences were observed between the two groups on stance phase and swing phase ( p > 0.05). We conclude that rTMS may be beneficial in improving the effects of acute stage stroke on gait ability.

• Journal of The Korean Society of Integrative Medicine
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• v.7 no.2
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• pp.95-109
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• 2019

Purpose : This study was conducted to evaluate the effects of FES with abdominal muscle contraction before virtual reality training on balance and gait ability in patients of stroke patients. Methods : The subjects were 30 stroke patients who satisfied the selection criteria. They were randomly assigned to a group receiving functional electrical stimulation with a virtual reality training program (the experiment group, n=15) and placebo functional electrical stimulation with a virtual reality training program (the control group, n=15). The program consisted of three 30-min sessions per week for six weeks. The timed up and go test (TUG), the BT4, the G-WALK were used to estimate subjects' balance, gait before and after the program. For the experiment group, the functional electrical stimulation was applied to the external oblique and the rectus abdominis, For the control group, the same program and the placebo functional electrical stimulation were applied. Results : There were significant improvements in the subscales of the balance and gait ability test of those who participated in the functional electrical stimulation, while the control group showed no significant changes. Conclusion : Therefore, functional electrical stimulation with virtual reality effectively improved the balance and gait ability in patients with chronic stroke.