• Journal of the Korean Society of Physical Medicine
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• v.17 no.4
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• pp.103-111
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• 2022

PURPOSE: This study was performed to investigate the effects of the whole-body vibration exercise combined with ankle joint mobilization on the gait and balancing ability in patients with hemiplegic stroke. METHODS: A total of 19 patients at a rehabilitation hospital who had suffered a hemiplegic stroke were randomly assigned to the experimental group (whole-body vibration exercise combined with ankle joint mobilization, n=10) or control group (whole-body vibration exercise, n=9). All participants underwent 30 min of comprehensive rehabilitation therapy (5 × /week for 6 weeks). Additionally, the experimental group performed the whole body vibration exercise and ankle joint mobilization (15 minutes each, 30 minutes total, 3 × / week for 6 weeks). In the control group, only the whole- body vibration exercise was performed in the same manner and not the ankle joint mobilization. The gait and balancing abilities were measured before and after the 6-week training. RESULTS: Significant improvements were observed in the 10-m walk test, timed up-and-go (TUG) test, center of pressure (COP) path length, and COP path velocity in the experimental group (p < .05). The experimental group showed a larger decrease in the COP path length and velocity than the control group (COP path length, -10.27 mm vs. -3.67 mm, p < .05; COP path velocity, -.33 cm/sec vs. -.13 cm/sec, p < .05, respectively). CONCLUSION: The whole-body vibration exercise combined with ankle joint mobilization could be effective in improving the gait and balancing ability of stroke patients and could also be more effective for improving the static balance ability than the general whole-body vibration exercise alone.

• The Journal of Korean Physical Therapy
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• v.9 no.1
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• pp.127-145
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• 1997

The purpose of this study wa9 to analyse the gait patterns of two female children with hemiplegic cerebral palsy by using the three-dimensional video motion analysis technique. Case 1 has mild spastic hemiplegia on the right side while Case 3 has moderate spastic hemiplegia on the left side. A group of 10, normal female children of the same age(7-8 years old) were selected as the control group for comparison. Time and distance variables as well as the Center of Mass displacement, and the pelvic and joint motions in three anatomical planes were analysed for this purpose. The following observations were made through the analysis : Case 1 revealed an asymmetrical gait pattern in which the step length of the unaffected side was shorter than that of the affected side, which wan a result of the effort to minimize loading on the affected leg by shortening the swing phase of the unaffected leg. Case 1 scored similar phase ratios, cadence and walking velocity to the normal group. A slight posterior tilt of the pelvis was observed throughout the gait cycle. Less hip and knee flexion than the normal group was observed, and demonstrated hyperextension of the knee in the terminal stance phase. The main problem in case 1 originated from the insufficient dorsiflexion of the affected foot during the swing phase. Therefore, Case 1 has difficulty with foot clearance in the swing phase. Usually, this is compensated for by using exessive hip abduction and medial rotation in conjuction with trunk elevation as well as increased vortical displacement of the center of mass. Case 1 revealed a foot-flat initial contact pattern. Case 2 was characterized by a consistent retraction ef the affected aide of the body througout the gait cycle, As a result, an asymmetrical gait pattern with increased stance phase ratios of the unaffected side was observed. In spite of this the step lengths of both sieds were similar. Case 2 scored lower cadence and walking speed than the normal group with lower gait stability. The main problem in Case 2 originated from an excessive plantaflexion of the affected foot which, in turn, rebutted in high hip and knee flexion. Hyperextension of the knee was observed at mid-stance, and execessive anterior tilt of the pelvis throughout the gait cycle was noticed. A gait pattern with high hip abduction and medial circumduction was maintained for the stability in the stance phase and foot clearance in the swing phase. Case 2 revealed a forefoot-contact initial contact pattern.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1934-1937
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• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.347.2-347
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• 2002

This paper presented a design and a Vibration control of a biped walking RGO(Robotic Gait Orthosis) and walking simulation by this system. The vibration evaluation of the Knee Joint Mechanism on the biped walking RGO(Robotic Galt Orthosis) was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking RGO. (omitted)

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.141-148
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• 2012

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.530-537
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• 2009

A graphic simulator can be a useful tool for planning gaits or dynamic behaviors to a walking pet robot. Microsoft describes robotics developer studio (MSRDS) as an end-to-end robotics development platform including simulation engine based on dynamics. In this paper, we propose a pet robot simulator (PRS), based on MSRDS, which supports interactively controlled two walking robots connected over network. To be pet robot simulator, modeling a commercial pet robot is performed and gait planning is also implemented. By using concurrency and coordination runtime (CCR) and decentralized software services (DSS) of MSRDS software platform, we connect two robots which are displayed together but controlled separately over network. The two walking pet robots can be simulated interactively by joysticks. It seems to be an internet game for pet robots.

• The Journal of Korean Physical Therapy
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• v.22 no.4
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• pp.35-41
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• 2010

Purpose: This study aimed to determine the effects of sensory feedback training of the ankle with visuoperceptual stimulation on static balance and gait functions in patients with chronic post-stroke hemiparesis. Methods: This study included 16 patients with chronic post-stroke hemiparesis. The subjects were randomly assigned toeither the experimental group (EG) or the control group (CG), with 8 subjects in each group. All the subjects received a routine physical therapy. The EG subjects received a 30-min sensory feedback training for the foot and ankle with visuoperceptual stimulation by using Tetrax Portable Multiple System. This training was conducted 3 times a week for 4 weeks. The scores of balance ability, timed up and go (TUG), and dynamic gait index (DGI) were assessed before and after the intervention. Results: In the EG, the scores of static balance, TUG, and DGI obtained afterthe intervention significantly differed from those obtained before the intervention (p<0.05). Further, in the EG, a significant difference was noted in the rate of change of all the variables when compared with those of the CG (p<0.05). However, in the CG, post-intervention score were only significantly different for DGI. Conclusion: Our findings indicate that the sensory feedback training with visuoperceptual stimulation improves balance and gait functions of patients with chronic post-stroke hemiparesis. Further studies are needed to generalize the results of this study.

• Journal of International Academy of Physical Therapy Research
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• v.3 no.2
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• pp.446-452
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• 2012

This study aims to examine the effects of taping of the ankle joint on the static and dynamic balance and gait ability of stroke patients. Twenty-six stroke patients receiving physical therapy at a hospital located in Gyeonggi-do were divided equally into a group that had taping in physical therapy and an ordinary physical therapy group. They exercised for 30 minutes each, 3 times per week for 8 weeks from June to August 2011. Romberg's eye open and eye closed tests, limits of stability(LOS), forward and back test, timed up and go test(TUG) and 10-meter gait velocity test were performed to evaluate static balance, dynamic balance, and gait ability, respectively, prior to and 8 weeks after the intervention. Differences within each group in relation to the lapse of time were compared by a paired t-test. Differences between the two groups were compared by an independent t-test. Regarding comparison of differences within each group, all tests resulted in significant changes in both groups after the intervention (p<.05). Comparison of differences between the two groups showed that taping in the physical therapy group had significantly better test results than the ordinary physical therapy group in all measured items(p<.05). The after effects of ankle taping on stroke patients are more efficient and effective than ordinary physical therapy alone in improving balance and gait ability.