• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.641-646
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• 2011

A low cost gait analysis system, which can measure stride length, walking speed, and ground reaction force, is proposed. A gait analysis system is used for medical evaluation of patients and rehabilitation assistance. Low cost cameras are attached to a shoe and movement of a shoe is estimated using infrared LED landmarks. Ground reaction force is measured from pressure sensors, which are installed inside a shoe. Through experiments, it is shown that the proposed system can be used to obtain stride length, walking speed, and ground reaction force.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1272-1277
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• 2005

In this study, we wolud be developed the fuzzy controlled PGO that controlled the flexion and the extension of each PGO's joint using the bio-signal and FSR sensor. The PGO driving system is to couple the right and left sides of the orthosis by specially designed hip joints and pelvic section. This driving system consists of the orthosis, sensor, control system. An air supply system of muscle is composed of an air compressor, 2-way solenoid valve(MAC, USA), accumulator, pressure sensor. Role of this system provide air muscle with the compressed air at hip joint constantly. According to output signal of EMG sensor and foot sensor, air muscles and assists the flexion of hip joint during PGO gait.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.5-147
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• 2001

This paper describes a gait algorithm and a velocity limitation method for a Leg-Wheel Robot. The gait algorithm enables the robot to preserve continuous locomotion even if the velocity command varies extensively. The velocity limitation method restricts the commanded velocity when it exceeds the mechanical limitation of the robot. Combined use of the velocity limitation method with the gait algorithm ensures the continuity of locomotion, and makes the gait pattern efficient with a long step length and low frequency of leg phase change. These methods can be applied to locomotion on unexplored rough terrain even if the range of roughness is unknown.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.9 no.2
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• pp.59-67
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• 2003

The purpose of this study was to identify the effects of eccentric exercise of affected hip abductor muscles on Gait balance in patient with hemiplegia. 30 patients with hemiplegia were recruited among in and out patients of Gil Hospital(age x=50.5, SD=10.1, range 37-80. post stroke days x=383.2, SD=309.3, range 57-1165). These patients were divided into eccentric and control groups by random sampling. TUG were used for this study. Paired t- test was used to identify the effects of eccentric exercise of hip. The results were stastically significantly differences in the effect of exercise between experimental and control groups by TUG(p<0.05). The results indicate that the eccentric exercise of affected hip abductor muscles is effects on gait balance in patient with hemiplegia.

• Physical Therapy Rehabilitation Science
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• v.9 no.2
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• pp.105-112
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• 2020

Objective: To investigate the effects of training using a trunk control robot (TCR) system combined with conventional therapy (CT) on balance and gait abilities in persons with chronic stroke. Design: Two-group pretest-posttest design. Methods: Thirty-five subjects with chronic stroke were randomly assigned to either the TCR group (n=17) or the trunk extension-training (TET) group (n=18). Both groups performed CT for 30 minutes, after which the TCR group performed TCR training and the TET group performed trunk extension training for 20 minutes. Both groups performed the therapeutic interventions 3 days per week for 6 weeks. Balance ability was evaluated using the Berg Balance Scale (BBS), and the Timed Up-and-Go (TUG) test. Gait ability was measured using the 10 m Walk Test (10MWT) and the NeuroCom Smart Balance Master. Results: TCR group showed significant improvements in static balance (weight bearing) and dynamic balance (weight shifting speed, weight shifting direction, BBS, and TUG), 10MWT, gait speed, and step width (p<0.05); step length was not significant. The TET group showed a significant partial improvement of dynamic balance (weight shifting speed, weight shifting direction, BBS, and 10MWT (p<0.05), but the improvements in static balance, TUG, gait speed, and step width and step length was not significant. Additionally, significant differences in static balance, dynamic balance (weight shifting speed, weight shifting direction, BBS, and TUG), 10MWT, gait speed, and step width were detected between groups (p<0.05). Conclusions: TCR training combined with CT is effective in improving static and dynamic balance, as well as gait abilities in persons with chronic stroke.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.32-39
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• 2021

Objective: The weakness of muscle strength due to stroke affects the posture control and gait in the patients with stroke. Stroke This study examined the effects of the stair climbing training with functional electrical stimulation on muscle strength, dynamic balance, and gait in individuals with chronic stroke. Design: Randomized controlled trial. Methods: Total forty-eight patients were randomly assigned to the 3 groups. Participants randomly divided to stair climbing training with functional electrical stimulation group (SCT+FES group, n=16), stair climbing training group (SCT group, n=16) and control group (n=16). Subjects in the SCT+FES group and SCT group performed stair walking training with and without functional electrical stimulation for 30 minutes, 3 sessions per week for 4 weeks and all subjects received conventional physical therapy for 30 minutes with 5 sessions per week for 4 weeks. Outcome measurements were assessed using the sit-to stand Test for strength, timed up and go test and modified-timed up and go test for dynamic balance, and 10m walk test and GaitRite system for gait. Results: In the SCT+FES group, subjects have been shown the significant increase in lower extremity strength (p<0.05), significantly improve in dynamic balance (p<0.05), and significantly improve in their temporal gait parameter (p<0.05). The SCT+FES group was significantly better than other groups in all parameters (p<0.05). Conclusions: This result suggested that the SCT+FES may be effective strategy to improve muscle strength, dynamic balance, and gait for individuals with chronic stroke.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.147-155
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• 2002

In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.

• The Journal of Korean Physical Therapy
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• v.26 no.3
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• pp.136-139
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• 2014

Purpose: The purpose of this study will demonstrate that relationship between scoliosis and gait factor and foot weight bearing in ambulation. Methods: Subjects were 40 elementary students. A normal control group consisted of a total of 20 children without any known musculoskeletal disorders and an AIS group of 20 children with mild AIS (defined by a Cobb angle between 10 and $25^{\circ}$) were recruited. Measurements were scoliometer screening test, Cobb angle, gait parameter (rate of swing/stance phase, gait velosity), foot weight bearing (entire, fore, hind). Results: Scoliometer screening test (P = 0.000) and X-ray Cobb angle (P = 0.000) significant difference of group which was significantly higher in the AIS group. Gait parameter not showed significant difference. Forefoot weight bearing was significantly higher in the AIS group than more normal group. Conclusion: It seems that the results of weight bearing analysis in ambulation may be used in modifying rehabilitation programs for individual needs of patients with idiopathic scoliosis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.11
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• pp.7285-7292
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• 2015

The purpose of this study was to investigate possibility of a forward gait with backward mechanism(dance gait) as rehabilitation and/or walking exercise by means of biomechanical variables. Thirteen professional women dancers(age, $21.1{\pm}1.3yrs$; height, $159.3{\pm}7.2cm$; body mass, $45.1{\pm}8.4kg$)participated in this study. We found that speed, stride length and double limb support time of a dance gait were more greater than backward gait, but stride width of dance gait less than a backward gait. Maximum RoMs, moments and powers of the lower limb joints on a dance gait were more frequent than a backward dance. These results were judged to be sufficient by the possibility of dance gait as rehabilitation and walking exercise.

• Journal of the Korean Society of Physical Medicine
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• v.15 no.1
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• pp.123-132
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• 2020

PURPOSE: This study examined the effects of both lower extremities proprioceptive neuromuscular facilitation training with functional electrical stimulation on the balance and gait of stroke patients. METHODS: Ten patients with stroke were divided randomly into two groups of five patients each who met the selection criteria. The training was conducted five times a week, for 60 minutes. The experimental group received both lower extremities proprioceptive neuromuscular facilitation training with functional electrical stimulation while the control group received general physical therapy with functional electrical stimulation. RESULTS: The timed Up-and-Go (TUG) test result was statistically significant after the intervention in the experimental group (p<.041). Berg Balance Scale (BBS) assessment was statistically significant after the intervention in the experimental group (p<.047) and between the experimental and control groups (p<.012). The cadence assessment was statistically significant after intervention in the experimental group (p<.031) and between the experimental and control groups (p<.015). The stride length assessment was not statistically significant after intervention in the experimental group and between the experimental and control groups. Gait velocity assessment was statistically significant after the intervention in the experimental group (p<.031) and between the experimental and control groups (p<.015). CONCLUSION: Both lower extremities proprioceptive neuromuscular facilitation training with functional electrical stimulation had positive effects on the balance and gait of stroke patients.