• 한국정밀공학회지
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• 제19권7호
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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.

• 한국운동역학회지
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• 제29권1호
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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.

• 재활복지공학회논문지
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• 제6권2호
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• pp.43-48
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• 2012

본 논문에서는 Electromyogram(EMG) 신호와 허벅지 각도 측정 장치, 발바닥 저항 센서를 이용하여 보행의 단계를 판단하는 방법을 제시한다. 신호의 측정을 위하여 건강한 성인 남성 5명을 대상으로 실험을 실시하였고 정상 보행에서의 EMG, 허벅지 각도, 발바닥 저항 센서를 통한 변화를 측정 하였다. EMG 신호의 획득을 위하여 실험자의 대퇴 사두근, 대퇴 이두근, 전경골근, 장딴지근에 Ag/AgCl 표면 전극을 부착하였으며, 양측 발뒤꿈치와 앞꿈치에 저항센서를 부착 하였다. 허벅지 각도 측정 장치는 굴곡 25도, 신전 20도 까지 범위를 가지며 이를 통하여 허벅지의 각도를 측정 하였다. 실험 결과 보행 시 입각기와 유각기를 명확히 판단 할 수 있었으며 세부적으로 8단계의 보행 상태를 판단 할 수 있었다.

• 대한한방내과학회지
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• 제38권2호
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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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• 제20권4호
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• pp.661-672
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• 2009

65세 이상 노인 30명을 대상으로 매트 운동과 필드 운동을 6주간 실시한 후 운동전, 3주 후, 그리고 6주 후에 균형과 보행에 미치는 영향에 대해 알아보기 위해 실시하였다. 측정은 외다리 기립 검사, 버그 균형 검사, 그리고 3차원 동작분석기를 이용하여 보행 분석을 실시하였다. 반복측정자료 분산분석 결과, 시간과 그룹 간 상호작용 효과는 활보길이에서 유의한 차이가 있었고, 외다리 기립, 버그 균형, 분속수, 속도는 유의한 차이가 없었다. 중재기간 별 효과크기를 검정해 본 결과 중재 전과 중재 6주 후, 중재 3주 후와 중재 6주 후에서 유의한 차이가 있었다.

• 한국전문물리치료학회지
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• 제9권3호
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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.

• 한국산학기술학회논문지
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• 제12권9호
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• pp.3834-3842
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• 2011

본 연구에서는 선천적으로 관절 느슨함과 낮은 근 장력을 갖고 있는 다운증후군아동 보행의 운동학적 특성을 알아보고자 한다. 특히 자료수집의 편리성과 재현성이 높고, 유용한 보행훈련도구로서 그 사용이 증가되는 추세인 트레드밀에서 보행을 실시하였다. 다른 중복장애가 없는 다운증후군 남자아동 10명을 대상으로 적외선카메라로 3차원 보행 자료를 수집하여 시공간적 변인과 운동학적 변인을 산출하여 이들의 보행특성을 분석하였다. 그 결과, 다운증후군아동들은 선천적인 근골격계 특성으로 인한 보행불안정성을 극복하기 위해 엉덩, 무릎, 발목관절 모두를 구부리고 걷는 구부정 걸음(crouch gait)형태를 보였으며, 모든 다리관절의 신전을 작게 하여 결과적으로 추진력이 자제하였다. 이는 더 크게 신체를 추진할수록 발뒤꿈치 착지 시에 체중수용의 부담이 증가하기 때문인 것으로 판단된다. 이 연구 결과는 다운증후군의 관절불안정성을 개선하기 위해 효과적인 근 골격계 강화훈련 프로그램을 마련하는데 유용한 자료를 제공할 것으로 기대되며, 다운증후군뿐만 아니라 선천적 또는 후천적 근골격계 장애를 개선하거나 극복할 수 있는 운동프로그램 개발에도 참고 자료가 될 것으로 예상된다.

• 대한의용생체공학회:의공학회지
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• 제42권6호
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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.

• 재활복지공학회논문지
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• 제11권1호
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• pp.81-89
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• 2017

본 논문은 대퇴절단 환자의 다양한 환경에서의 보행을 가능하게 하는 지능형 의족의 보행노면 및 보행단계 판별 기법을 제안한다. 제안하는 보행모드 변경 기법은 스트레인게이지 센서 만으로 보행노면 및 보행단계 판별이 가능한 단일 센서 기반의 알고리즘으로 기존 지능형 의족의 다중센서 기반 알고리즘의 단순화와 의족 시스템의 저가화가 가능하게 고안하였다. 보행노면 판별 알고리즘을 위해 정상인의 보행 중 발생하는 지면반발력의 특징을 분석하여 보행단계 세분화와 보행노면 검출 조건을 정의하였고, 대퇴절단 환자와 유사한 환경에서의 보행 실험을 위해 보행분석 장치를 제작하였다. 정의된 검출 조건과 제작된 기구를 통해 논문의 효용성 검증을 진행하였으며, 정상인 대상의 실험결과 단일 센서 기반 알고리즘의 정확도는 약 95%를 나타냈다. 제안하는 단일 센서 기반의 알고리즘을 통해 지능형 의족 시스템의 저가화가 가능할 것으로 판단되며 사용자가 직접 보행노면 상태를 파악하고 보행모드를 전환하는 수동 보행모드 변경 방식에서 벗어나 의족이 현재 보행 노면 상태를 파악하고 상황에 맞는 보행모드를 전환하는 자동보행 모드 변경이 가능할 것으로 확인되었다.

• 대한골관절종양학회지
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• 제3권1호
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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