• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.43-50
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• 2002

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

• Korean Journal of Applied Biomechanics
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• v.29 no.1
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• pp.9-13
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• 2019

Objective: The aim of this study was to compare gait patterns of elementary school male students in higher grades according to their character styles. Method: 4 extroverted character male subjects (height: $141.35{\pm}7.75cm$, weight: $43.65{\pm}5.80kg$) and 4 introverted character male subjects (height: $145.38{\pm}8.94cm$, weight: $42.15{\pm}10.71kg$) participated in this study. Results: As for walk styles of elementary school male students in higher grades according to their character patterns, there was not significant differences in gait cycle, stride width, stride length and walking speed. According to examination of average ratio of maximum vertical ground reaction force according to their characters divided by weight, elementary school male students in higher grades with extroverted character showed 114.69% of weight and students with introverted character showed 122.82% of weight, which exhibited that students with introverted character had larger ratio as much as 8.13% than students with extroverted character. The statistical significance level was 0.000 showing significant difference. Conclusion: Our results indicated that male students in higher grades with introverted character press ground hard and walk with strong steps. On the other hand, male students with extroverted character walk with light steps.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.2
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• pp.43-48
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• 2012

In this paper, we present the method of gait phases detection using multi biomedical signals during normal gait. Electromyogram(EMG) signals, muscle of thigh angle measurement device and resistive sensors are used for experiments. We implemented a test targeting five adult male and identified the pattern of EMG signal of normal gait. For acquiring the EMG signal, subjects attached surface Ag/AgCl electrodes to quadriceps femoris, biceps femoris, tibialis anterior and gastrocnemius medialis. Resistance sensors are attached to the heel toe and soles of the each feet for measuring attachment state of between feet and ground. Infrared sensors are attached on the thigh and thigh angle measurement device has the range from flection 25 degrees to extension 20 degrees. The results of this paper, The stance and swing phase could be confirmed during the normal gait and be classified in detail the eight steps.

• The Journal of Internal Korean Medicine
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• v.38 no.2
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• pp.118-124
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• 2017

Objective: This study describes the case of a patient with a left basal ganglia (BG) infarct who had made almost a complete recovery upon discharge from the hospital in 2014 but who was re-admitted after 31 months with a worsened hemiplegic gait. Methods: The patient had undergone no rehabilitation treatment in the 31 months since his discharge. When the patient was re-admitted to our hospital in 2017, stance and gait data were collected on the patient using a treadmill gait analysis system. In addition, the patient underwent a manual muscle test (MMT) evaluation, and his Motricity index (MI) and modified Barthel index (MBI) scores were recorded. After rehabilitation for one month, the patient was reassessed, and the results were compared to those on the day of re-admission and those recorded in 2014. Results: Compared to the 2014 evaluation results, the patient's stance parameters and gait parameters had worsened at re-admission. However, there was no significant change in the patient's MMT grade or MI and MBI scores in comparison to the results of the 2014 evaluation. After one month of rehabilitation, the patient was re-evaluated again, but there was no significant change in comparison to the evaluation results at re-admission. Conclusion: Some of the stroke patients who have passed six months since the onset of their stroke may require ongoing rehabilitation although the functions of them is almost recovered. Because there is a possibility that recovered functions get worse again without any rehabilitation for a long time. And once the recovered functions get worse, re-recovery of them is not easy.

• Journal of the Korean Data and Information Science Society
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• v.20 no.4
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• pp.661-672
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• 2009

This study was conducted to investigate whether mat exercise and field exercise have effectiveness on the balance and gait in older adults. Thirty subjects were participated in this study. And they were all randomly divided into mat exercise and field exercise group. To evaluate the effects of mat and field exercise, subjects were evaluated by using One Leg Stand test which was static balance test, and Berg Balance test which was dynamic balance test. Finally Gait pattern was assessed by using 3-dimensional gait analysis system. The assessment parameters were evaluated before, after 3 weeks, and after 6 weeks treatments. And we received a consent form from all subjects. The results of repeated measures analysis of variance showed that One Leg Stand, Berg Balance, Stride length, Cadence, Velocity were significantly increased after than before exercise in both groups. So we conclude that therapeutic exercise that is mat and field exercise has effectiveness on the balance and gait in older adults.

• Physical Therapy Korea
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• v.9 no.3
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• pp.77-91
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• 2002

Asymmetrical stance posture, balance, and gait disturbance are common problems in hemiplegic patients. Posterior leaf springs (PLS) are frequently prescribed to correct these problems. Recently, anterior leaf springs (ALS) have also been prescribed, but only limited studies have been performed to investigate the effects of ALS. The purpose of this study was to compare the effects of three conditions, i.e., wearing an ALS, wearing a PLS, and not wearing an AFO (ankle foot orthosis),: on 1) the distribution of weight bearing on the affected side, 2) standing balance, and 3) the gait patterns of hemiplegic patients. Eleven hemiplegic patients (10 men and 1 woman) participated in this study. The data were analyzed by the Friedman test. The results were as follows: 1) More weight bearing on the affected leg was observed in the ALS and PLS conditions than in the condition without an AFO. No significant difference between the ALS and PLS conditions was found. 2) There were statistically significant differences in the composite equilibrium scores (CES) among the three conditions. The CES in the PLS condition was significantly higher than in the ALS condition or the condition without an AFO. 3) Gait patterns improved significantly in the ALS and PLS conditions. No statistically significant difference between the ALS and PLS conditions was found. These results suggest that both ALS and PLS effectively improve the distribution of weight bearing on the affected side, standing balance, and gait patterns of hemiplegic patients. Further study using three-dimensional kinematic analysis and dynamic electromyography is needed to support these findings.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.9
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• pp.3834-3842
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• 2011

The purpose of this study is to analyze the kinematic characteristics of children with Down syndrome got congenitally joint laxity and muscle hypotonic. The subjects are boys with Down syndrome and don't have the other disabilities. We got three dimensional position data and then calculated spatiotemporal and kinematic variables during walking on treadmill used increasingly for gait analysis and training. In result, in order to overcome their gait instability due to their musculoskeletal characteristics they walked with hip, knee and ankle joints more flexed than the typical gait pattern, and on the propulsion phase they extend the lower limb joints less than the typical, result in propel the body less than. The reason is that the more is the propulsion by extending the joints, the greater is the reaction force from the ground on heel contact. This result is expected to be used to develop the training program for intensification of musculoskeletal system aim to improve the other musculoskeletal disabilities as well as Down syndrome.

• Journal of Biomedical Engineering Research
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• v.42 no.6
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• pp.295-303
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• 2021

Idiopathic normal-pressure hydrocephalus (INPH) is considered a potentially treatable neurological disorder by shunt surgery and characterized by a triad of symptoms including gait disturbance, cognitive impairment and urinary dysfunction. Although disorders of white matter are generally viewed as the principal pathological features of INPH, analysis of cortical features are important since the destruction of neural tracts could be associated with cortical structural changing. The aim of the study was to determine whether there was any relationship between gait parameter and structural features of cerebral cortex in INPH patients. Gait parameters were measured as follows: step width, toe in/out angle, coefficient of variation (CV) value of stride length, CV value of stride time. After obtaining individual brain MRI of patients with INPH and hemispheric cortical surfaces were automatically extracted from each MR volume, which reconstructed the inner and outer cortical surface. Then, cortical thickness, surface area, and volume were calculated from the cortical surface. As a result, step width was positively correlated with bilateral postcentral gyrus and left precentral gyrus, and toe in/out was positively correlated with left posterior parietal cortex and left insula. Also, the CV value of stride length showed positive correlation in the right superior frontal sulcus, left insula, and the CV value of stride time showed positive correlation in the right superior frontal sulcus. Unique parameter of cerebral cortical changes, as measured using MRI, might underline impairments in distinct gait parameters in patients with INPH.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.1
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• pp.81-89
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• 2017

In this paper, we propose a gait pattern recognition method for intelligent prosthesis that enables walking in various environments of femoral amputees. The proposed gait mode changing method is a single sensor based algorithm which can discriminate gait surface and gait phase using only strain gauges sensor, and it is designed to simplify the algorithm based on multiple sensors of existing intelligent prosthesis and to reduce cost of prosthesis system. For the recognition algorithm, we analyzed characteristics of the ground reaction force generated during gait of normal person and defined gait step segmentation and gait detection condition, A gait analyzer was constructed for the gait experiment in the environment similar to the femoral amputee. The validity of the paper was verified through the defined detection conditions and fabricated instruments. The accuracy of the algorithm based on the single sensor was 95%. Based on the proposed single sensor-based algorithm, it is considered that the intelligent prosthesis system can be made inexpensive, and the user can directly grasp the state of the walking surface and shift the walking mode. It is confirmed that it is possible to change the automatic walking mode to switch the walking mode that is suitable for the walking mode.

• The Journal of the Korean bone and joint tumor society
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• v.3 no.1
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• pp.18-25
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• 1997

Prosthetic replacement is one of the most common methods of reconstruction after resection of malignant tumor around the knee. Gait analysis provides a relative objective data about the gait function of patients with prosthesis. The purpose of this study was to compare the gait pattern of the patients who underwent limb salvage surgery with prosthesis for distal femur and that of patients with prosthesis for proximal tibia. This study included ten patients (4 males, 6 females, mean age 22.7 years, range 14-36) who underwent a wide resection and Kotz hinged modular reconstruction prosthesis replacement and six normal adult(Control). The site of bone tumor was the distal femur (Group 1) in six patients and proximal tibia (Group 2) in 4 patients. The follow-up period ranged from 15 to 82 months (mean : 33 months). The evaluation consisted of clinical assessment, radiographic assessment, gait analysis using VICON 370 Motion Analysis System. The gait analysis included the linear parameters such as, walking velocity, cadence, step length, stride length, stance time, swing time, single support and double support time and the three-dimensional kinematics (joint rotation angle, velocity of joint rotation) of ankle, knee, hip and pelvis in sagittal, coronal and transverse plane. For the kinetic evaluation, the moment of force (unit: Nm/kg) and power (unit: Watt/kg) of ankle, knee and hip joint in sagittal, coronal and transverse plane. In the linear parameters, cadence, velocity, step time and single support were decreased in both group 1 and group 2 compared with control. Double support decreased in group 2 compared with control significantly(p<.05). In contrast to our hypothesis, there was no significant difference between group 1 and group 2. In Kinematics, we observed significant difference (p<.05) of decreased knee flexion in loading response (G2