• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.117-121
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• 2023

Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.

• The Journal of the Korea Contents Association
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• v.10 no.3
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• pp.258-265
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• 2010

The purposes of this study was to determine the effects of limited hyperextension at knee joint using Limited Motion Knee Brace on balance and walking in patients with hemiplegia. The subjects of this study were 20 post-stroke hemiplegic patients admitted. Subjects were randomly assigned to either experimental group (Limited Motion Knee Brace group) or control group (manual restriction group). Both groups received traditional physical therapy intervention. The effects of each therapeutic method were evaluated by measurements of gait ability assesment, Berg balance scale (BBS), 10-meter walk speed (10MWS), Timed Up & Go (TUG) Test. The results of this research were as followings: (1) After treatment, there were significant BBS scores differences in both experimental and control group compared with pre-treatment(p<0.05). (2) After treatment, there were significant TUG test scores differences in both experimental and control group compared with pre-treatment (p<0.05). (3) After treatment, there were significant 10MWS differences in both experimental and control group compared with pre-treatment (p<0.05). (4) There were significant BBS scores differences in third and fourth week between experimental and control group (p<0.05). It was concluded that Limited Motion Knee Brace was effective for improving balance and for reducing fatigue for experimental group. Therefore, further studies are required to investigate the effect of knee orthosis for improving balance and walking in patients with hemiplegia.

• The Journal of Korean Physical Therapy
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• v.17 no.3
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• pp.351-367
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• 2005

The purpose of this study was to identity effects of virtual reality(VR) program related to standing postural control on balance, gait and brain activation patterns in chronic hemiplegic stroke patients. Subjects were assigned randomly to either VR group (n=12) or the control group (n=12) when the study began. Both groups received conventional physical therapy for 2 to 3 times per week. In addition to conventional physical therapies, VR group trained 3 types of virtual reality programs using IREX for standing postural control during 4 weeks (4 times/week, 30 minutes/time). Subjects were assessed for static and dynamic balance parameters using BPM, functional balance using Berg Balance Scale related to movement of paretic lower limb before and after 4 weeks of virtual reality training. The results of this study were as follows. 1. Following VR training, VR group demonstrated the marked improvement on dynamic mean balance, anteroposterior limits of stability (AP angle) and mediolateral limits of stability (ML angle). 2. Following VR training, both groups scored higher on Berg Balance Scale. However, a comparison of mean change revealed differences between groups. In conclusion, these data suggest that the postural control training using VR programs improve dynamic and functional balance performance in chronic hemiplegic stroke patients.

• Journal of the Korean Society of Physical Medicine
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• v.19 no.1
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• pp.119-129
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• 2024

PURPOSE: The purpose of this study was to examine the effectiveness of a low-intensity combined exercise program on daily physical fitness parameters such as balance, flexibility, muscle strength, and fear of falling of elderly women in the community. METHODS: This study assigned 30 elderly women randomly into two groups: The control and experimental groups. The control group (n = 15) underwent routine gait. The experimental group (n = 15) underwent the low-intensity combined exercise. The exercise program in this study comprising combined exercise, including balance, flexibility, muscle strength training, and the exercise program using props was conducted twice a week for 8 weeks. RESULTS: The average age of the control and experimental groups was 77.27 years and 78.33 years, respectively. There were significant differences in static balance (t = -4.167, p < .001), dynamic balance (t = 2.463, p < .001), (t = -3.870, p < .001), (t = -2.262, p < .001), (t = -5.732, p < .001), (t = -6.573, p < .001), and fear of falling (t = -5.129, p < .001). CONCLUSION: The results show that low-intensity combined exercise is an effective intervention that improves physical health fear of falling in older women. The combined exercise program was found to be more effective in terms of physical function and fall-related psychological function compared to the control group that only walked.

• Physical Therapy Korea
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• v.22 no.3
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• pp.33-40
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• 2015

The purpose of this study was to investigate the effect of multi joint-joint position sense (MJ-JPS) training on joint position sense, balance, and gait ability in stroke patients. A total of 18 stroke patients participated in the study. The subjects were allocated randomly into two groups: an experimental group and a control group. Participants in the experimental group received MJ-JPS training (10 min) and conventional treatment (20 min), but participants in the control group only received conventional treatment (30 min). Both groups received training for five times per week for six weeks. MJ-JPS is a training method used to increase proprioception in the lower extremities; as such, it is used, to position the lower extremities in a given space. MJ-JPS measurement was captured via video using a Image J program to calculate the error distance. Balance ability was measured using Timed Up and Go (TUG) and the Berg Balance Scale (BBS). Gait ability was measured with a 10 m walking test (10MWT) and by climbing four flights of stairs. The Shapiro-Wilk test was used to assess normalization. Within-group differences were analyzed using the paired t-test. Between-group differences were analyzed using the independent t-test. The experimental group showed a significant decrease in error distance (MJ-JPS) compared to the control group (p<.05). Both groups showed a significant difference in their BBS and 10MWT results (p<.05). The experimental group showed a significant decrease in their TUG and climbing results (p<.05), but the control group results for those two tasks were not found to be significant (p>.05). There was significant difference in MJ-JPS and by climbing four flights of stairs on variation of pre and post test in between groups (p<.05), but TUG and BBS and 10MWT was no significantly (p>.05). We suggest that the MJ-JPS training proposed in this study be used as an intervention to help improve the functional activity of the lower extremities in stroke patients.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.58-66
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• 2005

Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the kinematic structure of the two feet. The human being adapts his own control algorithm to minimize the ill effect due to the collision with the environment. In order to operate a Humanoid robot like the human being, it is necessary to understand the physics of the impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion in playing soccer. At the instant of impact, the external impulse exerted on the ball by the foot is an important property. Initially, we introduce the complete external impulse model of the lower-extremity of the human body and analyze the external impulses for several kicking postures of the lower-extremity. Secondly, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, will be introduced. The aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation and experimentation to verify the effectiveness of the proposed analytical methodology.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.4
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• pp.9-14
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• 2013

Purpose : The purpose of this study was to investigate the effect of visual Auditory rhythmic stimulation(VARS) in gait ability and proprioception with chronic stroke patients. Twenty-one persons after six months post stroke participated in pre test-post test control. Method : The subjects were randomly assigned to a visual Auditory rhythmic stimulation(VARS) group (n=10) and control group (n=11). Training process was practiced with exercise on thirty minutes a day, three days a week for four weeks. To find out the effect, inspected the FRT(functional reach test) by static balance and TUG(timed up and go test) by dynamic balance. Results : In static balance, FRT distance was significantly different between two group. In dynamic balance, TUG time was significantly different between two group. This study showed that the VARS training increase a balance by postural adjustment of chronic stroke patients more than control group. And so, the VARS training of hemiplegic patients was very important to successive rehabilitation. Conclusion : A continuous examination of VARS training could practical used of physical therapy with exercise.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.132-137
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• 2011

The walking mobility with stability of 4 legged robots is the distinguished skills for many application areas. Planning gaits of efficient walking for quadruped robots is an important and challenging task. Especially, autonomous generation of locomotion is required to manage various robot models and environments. In this paper, we propose an adaptive locomotion control of 4 legged robot for irregular terrain using HyperNEAT. Generated locomotion is executed and analysed using ODE based Webots simulation for the 4 legged robot which is built by Bioloid.