• Journal of the Ergonomics Society of Korea
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• v.26 no.2
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• pp.131-136
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• 2007

In this study, we developed an active ankle-foot orthosis(AAFO) which can control dorsi/ plantar flexion of the ankle joint to prevent foot drop and toe drag during walking. 3D gait analyses were performed on five healthy subjects under three different gait conditions: the normal gait without AFO, the SAFO gait with the conventional plastic AFO, and the AAFO gait with the developed AFO. As a result, the developed AAFO preeminently induced the normal gait compared to the SAFO. Additionally, AAFO prevented foot drop by proper plantarflexion during loading response and provided enough plantarflexion moment as a driving force to walk forward by sufficient push-off during pre-swing. AAFO also could prevent toe drag by proper dorsiflexion during swing phase. These results indicate that the developed AAFO may have more clinical benefits to treat foot drop and toe drag, compared to conventional AFOs, and also may be useful in patients with other orthotic devices.

• Journal of the Korean Society of Physical Medicine
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• v.18 no.3
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• pp.55-64
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• 2023

PURPOSE: Examine the effects of auditory feedback and functional electrical stimulation on balance, walking ability, and lower extremity function of subacute stroke patients. METHODS: Twenty-seven subjects diagnosed with subacute stroke within six months were randomly divided into three groups: test group 1, which performed walking exercises with auditory feedback and functional electrical stimulation; test group 2, which performed walking exercises only with functional electrical stimulation; control group applied only functional electrical stimulation, with nine subjects each. RESULTS: There were significant pre- to post-intervention differences in BBS in the gait training group with auditory feedback and functional electrical stimulation treatment, and significant pre- to post-intervention differences in BBS, sit-to-stand time, and average step speed in the gait training group with functional electrical stimulation, but no statistically significant differences in between-group comparisons. CONCLUSION: Gait training with auditory feedback and functional electrical stimulation can improve the balance and gait performance in stroke patients. Therefore, in the future, gait training with auditory feedback and functional electrical stimulation therapy may be suggested as a gait rehabilitation training tool for stroke patients.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.814-823
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• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• Journal of The Korean Society of Integrative Medicine
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• v.4 no.4
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• pp.21-32
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• 2016

Purpose: The purpose of this study was to identify whether task-related circuit exercise program combined with sensorimotor training for 4 weeks could improve the balance and gait in stroke patients. Method: Fifteen stroke patients who had agreed with the study were randomly divided into 3 groups categorized as task-related circuit exercise program combined with sensorimotor training group (experimental group 1, n=5), task-related circuit exercise program group (experimental group 2, n=5), and control subjects performed conventional physical therapy (control group, n=5). The balance and gait were assessed by BT-4 force platform system, Berg Balance Scale, 10meter Walk Test and Smart Step at before training and after training. Wilcoxon signed rank test was used to analyze change before and after intervention in intra-group. Kruskal Wallis H test, Mann-Whitney U test and Bonfferoni correction were used to analyze changes of all variables in inter-groups. Result: The experimental group 1 showed significant improvements in postural sway area, BBS scores, walking velocity and plantar pressures of affected foot, whereas the experimental group 2 showed significant improvements in BBS scores, and the control group were no significantly different in all variables following training. The changes of postural sway area and BBS scores in the experimental group 1 were significantly greater than them of the control group. The changes of postural sway area in the experimental group 1 was significantly greater than that of the experimental group 2. Conclusion: The result of this study suggest the task-related circuit exercise program combined with sensorimotor training is an effective intervention to improve balance and gait in stoke patients.

• PNF and Movement
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• v.16 no.3
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• pp.461-473
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• 2018

Purpose: The purpose of this study was to evaluate and compare the effects of inspiratory muscle training with chest expansion exercises on pulmonary function, maximal inspiratory pressure, and gait in individuals with stroke. Methods: The participants in this study included 36 stroke patients. These patients were randomly divided into three groups: an inspiratory muscle training (IMT) with chest expansion (CE) group (n=12), an IMT group (n=12), and a control group (n=12). Participants in the IMT with CE group underwent IMT and CE exercises 5 times per week for 30 minutes over 4 weeks, whereas those in the CE group and the control group received IMT and conventional physical therapy, respectively, for the same duration. The investigator measured the patients' pulmonary function, maximal inspiratory pressure, and gait endurance. Results: After the intervention, the change values for the forced vital capacity (FVC), forced expiratory volume in one second (FEV1), peak expiratory flow (PEF), maximal inspiratory pressure (MIP), and six-minute walk test (6MWT) in the IMT with CE group and the control group were significantly greater than those of the control group (p<0.05). Similarly, after the intervention, the change values of the FVC, FEV1, PEF, MIP, and 6MWT in the IMT with CE group were significantly greater than those in the IMT group (p<0.05). Conclusion: These findings suggest that IMT with CE could be used to increase pulmonary function, maximal inspiratory pressure, and gait endurance in stroke patients.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• Journal of Digital Convergence
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• v.11 no.8
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• pp.243-250
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• 2013

The present study is to determine the effect of lumbosacral stabilization exercise program on back pain disorder and gait velocity of patients with chronic low back pain. The subject was extracted randomly from 34 patients with chronic low back pain and divided into 18 patients of experimental group and 16 patients of control group. Before the experiment, the Oswestry disability index examination and analysis of gait speed were performed. Then, a conventional interventional therapy of physiotherapy was performed with the experimental group along with the lumbosacral stabilization exercise while only the conventional interventional therapy was done to the control group. Both groups did the above treatment every 30 minutes, four times a week for four weeks. Then, post-examination was carried out followed by comparing the back pain disorder index and gait velocity before and after the experiment for the two groups. The back pain disorder index showed that both experimental and control groups had significant difference within the group (p>.01)(p>.05), With regard to the gait velocity, both experimental and control groups had a significant difference within the experimental group and between the groups (p>.001)(p>.05).

• Physical Therapy Korea
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• v.21 no.1
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• pp.29-36
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• 2014

The purpose of this study was to investigate the immediate effect of fabric ankle-foot orthosis on spatiotemporal gait parameters, compared to a barefoot condition in children with spastic cerebral palsy. Eleven children with spastic cerebral palsy participated in this study. Spatiotemporal gait parameters were measured with the GAITRite system. Fabric ankle-foot orthosis significantly improved Timed Up and Go test time and gait velocity. There was no significant difference in cadence. The step time significantly improved in both the more and less affected foot compared to the barefoot condition. The step length of the affected foot also significantly improved, but there was no significant difference in the step length of the less affected foot. There was significant improvement in the stride length of both the affected and less affected foot, but no significant difference in single stance or double stance. The fabric ankle-foot orthosis could improve stability, and selective control of the joint and promote better walking in children with cerebral palsy. Consequently, the fabric ankle-foot orthosis might be an alternative assistive device for neurological populations as a primary role instead of the typical ankle-foot orthosis.

• The Journal of Korean Physical Therapy
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• v.27 no.2
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• pp.112-117
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• 2015

Purpose: The purpose of this study was to examine the effects of a task-specific obstacle crossing rehabilitation program on functional gait ability in patients with cerebellar ataxia. Overall, we sought to provide ataxia-specific locomotor rehabilitation guidelines for use in clinical practice based on quantitative evidence using relevant analysis of gait kinematics including valid clinical tests. Methods: Patients with cerebellar disease (n=13) participated in obstacle crossing training focusing on maintenance of dynamic balance and posture, stable transferring of body weight, and production of coordinated limb movements for 8 weeks, 2 times per week, 90 minutes per session. Throughout the training of body weight transfer, the instructions emphasized conscious perception and control of the center of body stability, trunk and limb alignment, and stepping kinematics during the practice of each walking phase. Results: According to the results, compared with pre-training data, foot clearance, pre-&post-obstacle distance, delay time, and total obstacle crossing time were increased after intervention. In addition, body COM measures indicated that body sway and movement variability, therefore posture stability during obstacle crossing, showed improvement after training. Based on these results, body sway was reduced and stepping pattern became more consistent during obstacle crossing gait after participation in patients with cerebellar ataxia. Conclusion: Findings of this study suggest that task-relevant obstacle crossing training may have a beneficial effect on recovery of functional gait ability in patients with cerebellar disease.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.882-887
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• 2003

This paper presented a design and control of a new RGO(reciprocating gait orthosis)and its simulation. The new RGO was distinguished from the other one by which had a very light-weight and a new RGO(reciprocating gait orthosis) system. The vibration evaluation of the hip joint system on the new RGO(reciprocating gait orthosis)was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 ㎐. The gait of the new RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the new RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties, we made the hip joint system of FEM and the hip joint system by 1-axis and 3-axis Accelerometers.